/SLAM-Hive/slam_hive_results/mapping_results/1357/1000_ndt-loam-imu+kitti_2011_09_30_drive_0028_synced_full.yamlbash: /opt/ros/kinetic/setup.bash: No such file or directory
... logging to /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/roslaunch-94455c1db9c0-90.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
]2;/slamhive/dlo_lfa_ggo_kitti.launch
[1mstarted roslaunch server http://94455c1db9c0:46323/[0m

SUMMARY
========

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

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

auto-starting new master
[1mprocess[master]: started with pid [105][0m
[1mROS_MASTER_URI=http://localhost:11311[0m
]2;/slamhive/dlo_lfa_ggo_kitti.launch http://localhost:11311
[1msetting /run_id to 574e20b2-2f08-11ef-9268-0242ac110003[0m
[1mprocess[rosout-1]: started with pid [116][0m
started core service [/rosout]
[1mprocess[lidar2base_publisher-2]: started with pid [123][0m
[1mprocess[camera_init2odom_publisher-3]: started with pid [124][0m
[1mprocess[velodyne_nodelet_manager-4]: started with pid [130][0m
[0m[ INFO] [1718889837.947293691]: Initializing nodelet with 8 worker threads.[0m
[1mprocess[prefiltering_nodelet-5]: started with pid [136][0m
downsample: VOXELGRID 0.1
outlier_removal: RADIUS 0.5 - 2
[1mprocess[scan_matching_odom_nodelet-6]: started with pid [152][0m
calib_file= home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
odom_file= /root/kitti_traj_ggo.txt
--- reg_s2s,reg_s2k=pcl::NDT_OMP ---
--- initialize_params end! ---
[1mprocess[ascanRegistration-7]: started with pid [162][0m
scan line number 64 
[1mprocess[alaserOdometry-8]: started with pid [170][0m
Mapping 10 Hz 
[1mprocess[alaserMapping-9]: started with pid [176][0m
line resolution 0.400000 plane resolution 0.800000 
[1mprocess[kittiHelper-10]: started with pid [182][0m
calib_file= home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
eulerAngle= 0
-0
 01 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
[1mprocess[global_graph_nodelet-11]: started with pid [189][0m
/opt/ros/melodic/lib/python2.7/dist-packages/roslib/packages.py:470: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal
  if resource_name in files:
construct solver: lm_var_cholmod
# Using CHOLMOD poseDim -1 landMarkDim -1 blockordering 1
done
registration: NDT_OMP DIRECT7 1 (8 threads)
[1mprocess[map2odom_publisher-12]: started with pid [195][0m
### global_graph init done! 
bash: /opt/ros/kinetic/setup.bash: No such file or directory
bash: /opt/ros/kinetic/setup.bash: No such file or directory
rosbag play /slamhive/dataset/kitti_2011_09_30_drive_0028_synced_full.bag  --clock 
[0m[ INFO] [1718889844.098438583]: Saving as ASCII PCD[0m
[0m[ INFO] [1718889844.101063410]: Listening for incoming data on topic /laser_cloud_surround[0m
[0m[ INFO] [1718889844.289510833]: 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.
--------------------stamp1317357761.935647964
points size 82933 
prepare time 28.461752 
sort q time 5.826257 
seperate points time 11.658786 
1317357761.935647964 WriteOdom laser_odom_to_init
1317357761.935647964 WriteOdom aft_mapped_to_init_high_frec
scan registration time 45.034534 ms *************
Initialization finished 
publication time 7.917207 ms 
whole laserOdometry time 7.938256 ms 
 
map prepare time 1.478600 ms
map corner num 0  surf num 0 
[33m[ WARN] [1718889844.926174322]: time Map corner and surf num are not enough[0m
add points time 0.254955 ms
filter time 0.259461 ms 
[0m[ INFO] [1718889844.928281312]: Received 5047 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889844.928302976]: Data saved to 1317357761935647.pcd[0m
mapping pub time 2.214294 ms 
whole mapping time 5.480954 ms +++++
mappingCount 1 & avg mapping time 5.483040 ms ++++++++++++++++++++++
1317357761.935647964 WriteOdom aft_mapped_to_init
--------------------stamp1317357762.039568901
points size 84323 
prepare time 12.820271 
sort q time 4.407919 
seperate points time 10.479930 
scan registration time 26.333632 ms *************
publication time 7.876962 ms 
whole laserOdometry time 7.893630 ms 
 
--------------------stamp1317357762.143488883
points size 86053 
prepare time 12.775882 
sort q time 5.845662 
seperate points time 12.038818 
scan registration time 31.077423 ms *************
publication time 7.930220 ms 
whole laserOdometry time 7.944710 ms 
 
-----t: 0.169583
OdomCount 1 & avg odom time 0.169583 ms ++++++++++++++++++++++
1317357762.039568901 WriteOdom laser_odom_to_init
1317357762.039568901 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
map prepare time 1.679057 ms
map corner num 2479  surf num 2568 
build tree time 0.826229 ms 
--------------------stamp1317357762.247406959
mapping data assosiation time 19.055099 ms 
-----t: 0.0336148
OdomCount 2 & avg odom time 0.101599 ms ++++++++++++++++++++++
points size 87075 
prepare time 14.092993 
1317357762.143488883 WriteOdom laser_odom_to_init
1317357762.143488883 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.855658 ms 
sort q time 4.576087 
seperate points time 10.714629 
scan registration time 30.126474 ms *************
mapping data assosiation time 15.779575 ms 
publication time 8.201005 ms 
whole laserOdometry time 8.217727 ms 
 
mapping solver time 14.201172 ms 
-----t: 0.0339023
OdomCount 3 & avg odom time 0.079033 ms ++++++++++++++++++++++
mapping optimization time 68.758231 
1317357762.247406959 WriteOdom laser_odom_to_init
1317357762.247406959 WriteOdom aft_mapped_to_init_high_frec
add points time 0.276420 ms
filter time 0.641102 ms 
mapping pub time 1.843107 ms 
whole mapping time 73.297698 ms +++++
mappingCount 2 & avg mapping time 39.392296 ms ++++++++++++++++++++++
map prepare time 1.541929 ms
map corner num 3447  surf num 2915 
build tree time 0.831761 ms 
1317357762.039568901 WriteOdom aft_mapped_to_init
mapping data assosiation time 15.546373 ms 
--------------------stamp1317357762.351346969
points size 89649 
prepare time 11.052818 
mapping data assosiation time 16.550202 ms 
sort q time 5.046257 
seperate points time 11.207266 
scan registration time 26.485166 ms *************
mapping solver time 19.423701 ms 
mapping optimization time 73.813276 
add points time 0.373411 ms
filter time 0.849887 ms 
mapping pub time 2.064860 ms 
whole mapping time 78.693103 ms +++++
mappingCount 3 & avg mapping time 52.496743 ms ++++++++++++++++++++++
1317357762.247406960 WriteOdom aft_mapped_to_init
-----t: 0.0335248
OdomCount 4 & avg odom time 0.067656 ms ++++++++++++++++++++++
1317357762.351346969 WriteOdom laser_odom_to_init
1317357762.351346969 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.982884 ms
map corner num 4358  surf num 3266 
build tree time 1.016027 ms 
mapping data assosiation time 14.370981 ms 
mapping solver time 16.385856 ms 
mapping data assosiation time 14.646814 ms 
--------------------stamp1317357762.455291032
points size 90579 
mapping solver time 17.280110 ms 
mapping optimization time 64.624844 
prepare time 15.903904 
add points time 0.429296 ms
filter time 0.901348 ms 
mapping pub time 2.080337 ms 
whole mapping time 70.065131 ms +++++
mappingCount 4 & avg mapping time 56.889773 ms ++++++++++++++++++++++
1317357762.351346970 WriteOdom aft_mapped_to_init
sort q time 4.655606 
seperate points time 10.599242 
scan registration time 30.863011 ms *************
publication time 6.770825 ms 
whole laserOdometry time 6.785840 ms 
 
map prepare time 2.469192 ms
map corner num 5069  surf num 3464 
build tree time 2.074418 ms 
mapping data assosiation time 24.743752 ms 
--------------------stamp1317357762.559210062
points size 90579 
prepare time 12.674008 
mapping data assosiation time 21.643141 ms 
sort q time 5.314876 
seperate points time 11.876080 
scan registration time 28.679993 ms *************
mapping solver time 16.053054 ms 
mapping optimization time 89.191112 
add points time 0.688787 ms
filter time 1.128623 ms 
mapping pub time 2.127001 ms 
whole mapping time 95.660597 ms +++++
mappingCount 5 & avg mapping time 64.644705 ms ++++++++++++++++++++++
1317357762.455291033 WriteOdom aft_mapped_to_init
publication time 8.070086 ms 
whole laserOdometry time 8.085041 ms 
 
-----t: 0.0347023
OdomCount 6 & avg odom time 0.056062 ms ++++++++++++++++++++++
1317357762.559210062 WriteOdom laser_odom_to_init
1317357762.559210062 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.796580 ms
map corner num 5732  surf num 3709 
build tree time 1.381765 ms 
mapping data assosiation time 16.495762 ms 
mapping solver time 19.739773 ms 
--------------------stamp1317357762.663129091
mapping data assosiation time 17.535543 ms 
points size 90849 
prepare time 12.743809 
mapping solver time 13.030837 ms 
mapping optimization time 69.115610 
add points time 0.393865 ms
filter time 0.865811 ms 
[0m[ INFO] [1718889845.586435563, 1317357762.680522814]: Received 10301 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889845.586487588, 1317357762.680522814]: Data saved to 1317357762559210.pcd[0m
sort q time 4.957170 
seperate points time 11.750055 
mapping pub time 2.451137 ms 
whole mapping time 74.678500 ms +++++
mappingCount 6 & avg mapping time 66.317477 ms ++++++++++++++++++++++
1317357762.559210062 WriteOdom aft_mapped_to_init
scan registration time 29.277863 ms *************
publication time 6.224657 ms 
whole laserOdometry time 6.234284 ms 
 
-----t: 0.0431405
OdomCount 7 & avg odom time 0.054216 ms ++++++++++++++++++++++
1317357762.663129091 WriteOdom laser_odom_to_init
1317357762.663129091 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.911991 ms
map corner num 6346  surf num 3955 
build tree time 1.561748 ms 
mapping data assosiation time 17.273225 ms 
mapping solver time 16.666455 ms 
--------------------stamp1317357762.767049074
points size 90931 
mapping data assosiation time 21.285472 ms 
prepare time 17.627275 
sort q time 4.964665 
seperate points time 11.657513 
mapping pub time 2.150639 ms 
whole mapping time 80.047777 ms +++++
mappingCount 7 & avg mapping time 68.279720 ms ++++++++++++++++++++++
1317357762.663129091 WriteOdom aft_mapped_to_init
-----t: 0.0275734
OdomCount 8 & avg odom time 0.050886 ms ++++++++++++++++++++++
1317357762.767049074 WriteOdom laser_odom_to_init
1317357762.767049074 WriteOdom aft_mapped_to_init_high_frec
publication time 6.977192 ms 
whole laserOdometry time 6.989652 ms 
 
map prepare time 1.671251 ms
map corner num 6950  surf num 4225 
build tree time 1.644438 ms 
mapping data assosiation time 16.857872 ms 
mapping solver time 15.774532 ms 
--------------------stamp1317357762.870966911
points size 90805 
prepare time 12.530619 
mapping solver time 15.970629 ms 
mapping optimization time 68.096304 
add points time 0.422612 ms
filter time 1.198746 ms 
mapping pub time 2.118577 ms 
whole mapping time 73.550937 ms +++++
mappingCount 8 & avg mapping time 68.939354 ms ++++++++++++++++++++++
1317357762.767049074 WriteOdom aft_mapped_to_init
sort q time 4.463469 
seperate points time 10.446706 
scan registration time 27.436104 ms *************
publication time 7.855387 ms 
whole laserOdometry time 7.869392 ms 
 
-----t: 0.0277387
OdomCount 9 & avg odom time 0.048314 ms ++++++++++++++++++++++
1317357762.870966911 WriteOdom laser_odom_to_init
1317357762.870966911 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.971944 ms
map corner num 7540  surf num 4425 
build tree time 1.657321 ms 
mapping data assosiation time 15.855860 ms 
mapping solver time 19.393382 ms 
mapping data assosiation time 15.857272 ms 
points size 90460 
mapping solver time 13.158809 ms 
mapping optimization time 66.705422 
add points time 0.396109 ms
filter time 1.146722 ms 
prepare time 15.703693 
mapping pub time 2.072728 ms 
whole mapping time 72.344127 ms +++++
mappingCount 9 & avg mapping time 69.318195 ms ++++++++++++++++++++++
1317357762.870966911 WriteOdom aft_mapped_to_init
sort q time 4.997740 
seperate points time 11.700101 
scan registration time 32.273617 ms *************
publication time 7.463284 ms 
whole laserOdometry time 7.475394 ms 
 
-----t: 0.0306787
OdomCount 10 & avg odom time 0.046550 ms ++++++++++++++++++++++
1317357762.974884986 WriteOdom laser_odom_to_init
1317357762.974884986 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.190835 ms
map corner num 8101  surf num 4602 
build tree time 2.127236 ms 
mapping data assosiation time 17.156143 ms 
mapping solver time 18.919569 ms 
--------------------stamp1317357763.078830003
points size 87818 
mapping data assosiation time 17.445574 ms 
prepare time 11.953069 
sort q time 4.154103 
seperate points time 9.574138 
scan registration time 25.931937 ms *************
mapping solver time 18.579680 ms 
mapping optimization time 75.133381 
add points time 0.419306 ms
filter time 1.327320 ms 
mapping pub time 2.284460 ms 
whole mapping time 81.454988 ms +++++
mappingCount 10 & avg mapping time 70.532875 ms ++++++++++++++++++++++
1317357762.974884987 WriteOdom aft_mapped_to_init
publication time 9.139101 ms 
whole laserOdometry time 9.159310 ms 
 
-----t: 0.0370972
OdomCount 11 & avg odom time 0.045691 ms ++++++++++++++++++++++
1317357763.078830003 WriteOdom laser_odom_to_init
1317357763.078830003 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.029496 ms
map corner num 8637  surf num 4771 
build tree time 1.804575 ms 
mapping data assosiation time 17.054649 ms 
mapping solver time 17.835944 ms 
--------------------stamp1317357763.182771921
mapping data assosiation time 19.386418 ms 
points size 84809 
prepare time 12.782073 
mapping solver time 14.913283 ms 
mapping optimization time 71.929915 
add points time 0.441388 ms
filter time 1.218920 ms 
[0m[ INFO] [1718889846.104779762, 1317357763.207468658]: Received 14147 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889846.104820320, 1317357763.207468658]: Data saved to 1317357763078830.pcd[0m
mapping pub time 2.359569 ms 
whole mapping time 78.042448 ms +++++
mappingCount 11 & avg mapping time 71.215877 ms ++++++++++++++++++++++
1317357763.078830004 WriteOdom aft_mapped_to_init
sort q time 7.220351 
seperate points time 13.011042 
scan registration time 30.635762 ms *************
publication time 7.623317 ms 
whole laserOdometry time 7.634590 ms 
 
-----t: 0.0307101
OdomCount 12 & avg odom time 0.044443 ms ++++++++++++++++++++++
1317357763.182771921 WriteOdom laser_odom_to_init
1317357763.182771921 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.509131 ms
map corner num 9184  surf num 4963 
build tree time 3.329265 ms 
mapping data assosiation time 20.134702 ms 
mapping solver time 16.529312 ms 
--------------------stamp1317357763.286695957
mapping data assosiation time 16.722818 ms 
points size 83607 
mapping solver time 9.432431 ms 
mapping optimization time 67.246175 
add points time 0.427145 ms
filter time 1.237314 ms 
mapping pub time 2.071703 ms 
whole mapping time 73.553467 ms +++++
mappingCount 12 & avg mapping time 71.411024 ms ++++++++++++++++++++++
1317357763.182771921 WriteOdom aft_mapped_to_init
sort q time 5.028540 
seperate points time 10.992376 
scan registration time 28.796227 ms *************
-----t: 0.0403934
OdomCount 13 & avg odom time 0.044131 ms ++++++++++++++++++++++
1317357763.286695957 WriteOdom laser_odom_to_init
1317357763.286695957 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.097815 ms
map corner num 9727  surf num 5136 
mapping data assosiation time 16.840572 ms 
mapping solver time 17.505044 ms 
--------------------stamp1317357763.390639066
points size 82328 
mapping data assosiation time 18.645080 ms 
prepare time 14.456059 
sort q time 4.355881 
seperate points time 10.754436 
add points time 0.456858 ms
filter time 1.494848 ms 
scan registration time 30.567540 ms *************
mapping pub time 1.974446 ms 
whole mapping time 78.836715 ms +++++
mappingCount 13 & avg mapping time 71.982509 ms ++++++++++++++++++++++
1317357763.286695957 WriteOdom aft_mapped_to_init
publication time 6.594723 ms 
whole laserOdometry time 6.607028 ms 
 
map prepare time 1.717670 ms
map corner num 10255  surf num 5287 
build tree time 3.092044 ms 
mapping solver time 17.874810 ms 
--------------------stamp1317357763.494574069
points size 81765 
prepare time 10.986070 
mapping data assosiation time 19.779709 ms 
sort q time 4.318308 
seperate points time 10.432792 
mapping solver time 15.340890 ms 
mapping optimization time 76.301556 
add points time 0.400832 ms
filter time 1.178953 ms 
mapping pub time 1.785528 ms 
whole mapping time 81.427946 ms +++++
mappingCount 14 & avg mapping time 72.657603 ms ++++++++++++++++++++++
1317357763.390639067 WriteOdom aft_mapped_to_init
-----t: 0.0296109
OdomCount 15 & avg odom time 0.042182 ms ++++++++++++++++++++++
publication time 7.129083 ms 
whole laserOdometry time 7.145581 ms 
 
map prepare time 1.970516 ms
map corner num 10764  surf num 5460 
build tree time 2.072166 ms 
mapping data assosiation time 16.838640 ms 
mapping solver time 13.346956 ms 
mapping data assosiation time 17.933010 ms 
points size 81616 
prepare time 9.778153 
mapping solver time 11.538522 ms 
mapping pub time 1.883156 ms 
whole mapping time 68.794689 ms +++++
mappingCount 15 & avg mapping time 72.400388 ms ++++++++++++++++++++++
1317357763.494574070 WriteOdom aft_mapped_to_init
sort q time 4.763242 
seperate points time 9.837538 
scan registration time 23.845034 ms *************
publication time 7.718744 ms 
whole laserOdometry time 7.732462 ms 
 
-----t: 0.0341683
OdomCount 16 & avg odom time 0.041681 ms ++++++++++++++++++++++
1317357763.598541975 WriteOdom laser_odom_to_init
1317357763.598541975 WriteOdom aft_mapped_to_init_high_frec
build tree time 2.438343 ms 
mapping data assosiation time 16.774692 ms 
mapping solver time 16.384381 ms 
--------------------stamp1317357763.702558040
points size 81236 
prepare time 11.208465 
mapping solver time 14.557095 ms 
[0m[ INFO] [1718889846.619861246, 1317357763.712392595]: Received 17458 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889846.620031356, 1317357763.712392595]: Data saved to 1317357763598541.pcd[0m
mapping pub time 2.180928 ms 
whole mapping time 74.169009 ms +++++
mappingCount 16 & avg mapping time 72.511341 ms ++++++++++++++++++++++
1317357763.598541975 WriteOdom aft_mapped_to_init
sort q time 4.692036 
seperate points time 10.748496 
publication time 6.902851 ms 
whole laserOdometry time 6.916585 ms 
 
-----t: 0.0359533
OdomCount 17 & avg odom time 0.041344 ms ++++++++++++++++++++++
1317357763.702558040 WriteOdom laser_odom_to_init
1317357763.702558040 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.340437 ms
map corner num 11702  surf num 5756 
build tree time 3.077604 ms 
mapping data assosiation time 18.455634 ms 
mapping solver time 16.742880 ms 
--------------------stamp1317357763.806549072
points size 80233 
prepare time 11.087056 
sort q time 4.075970 
seperate points time 9.996913 
scan registration time 26.518858 ms *************
mapping solver time 17.531341 ms 
mapping pub time 1.937790 ms 
whole mapping time 84.022864 ms +++++
mappingCount 17 & avg mapping time 73.188966 ms ++++++++++++++++++++++
1317357763.702558041 WriteOdom aft_mapped_to_init
map prepare time 1.767124 ms
map corner num 12165  surf num 5918 
build tree time 2.900947 ms 
mapping data assosiation time 17.532788 ms 
mapping solver time 17.023065 ms 
mapping data assosiation time 17.089182 ms 
points size 78502 
mapping solver time 18.016415 ms 
filter time 1.738016 ms 
sort q time 4.341005 
seperate points time 9.270919 
mapping pub time 1.876729 ms 
whole mapping time 79.446542 ms +++++
mappingCount 18 & avg mapping time 73.536820 ms ++++++++++++++++++++++
1317357763.806549072 WriteOdom aft_mapped_to_init
scan registration time 22.522603 ms *************
publication time 7.090654 ms 
whole laserOdometry time 7.104492 ms 
 
-----t: 0.0260126
OdomCount 19 & avg odom time 0.039840 ms ++++++++++++++++++++++
1317357763.910563945 WriteOdom laser_odom_to_init
1317357763.910563945 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.747041 ms
map corner num 12680  surf num 6076 
build tree time 3.333181 ms 
mapping data assosiation time 17.724876 ms 
mapping solver time 16.493639 ms 
mapping data assosiation time 15.820734 ms 
points size 74971 
mapping solver time 13.692381 ms 
prepare time 10.958113 
mapping pub time 1.832347 ms 
whole mapping time 73.607764 ms +++++
mappingCount 19 & avg mapping time 73.540903 ms ++++++++++++++++++++++
1317357763.910563946 WriteOdom aft_mapped_to_init
sort q time 4.076389 
seperate points time 9.513407 
publication time 10.046270 ms 
whole laserOdometry time 10.109712 ms 
 
map prepare time 1.853627 ms
map corner num 13148  surf num 6232 
build tree time 2.671343 ms 
mapping data assosiation time 16.846006 ms 
mapping solver time 19.551317 ms 
mapping data assosiation time 18.311011 ms 
--------------------stamp1317357764.118614912
mapping solver time 16.766670 ms 
points size 72440 
mapping optimization time 75.182875 
add points time 0.525071 ms
filter time 2.037269 ms 
prepare time 12.974302 
sort q time 3.493944 
seperate points time 7.916763 
publication time 6.869740 ms 
whole laserOdometry time 6.888500 ms 
 
-----t: 0.0348941
OdomCount 21 & avg odom time 0.039078 ms ++++++++++++++++++++++
map prepare time 1.920746 ms
map corner num 13630  surf num 6350 
build tree time 2.850517 ms 
mapping data assosiation time 16.133082 ms 
mapping solver time 15.312633 ms 
--------------------stamp1317357764.222655057
points size 70906 
mapping data assosiation time 21.134725 ms 
prepare time 15.112220 
mapping solver time 15.617201 ms 
1317357764.222655057 WriteOdom laser_odom_to_init
1317357764.222655057 WriteOdom aft_mapped_to_init_high_frec
publication time 7.957359 ms 
whole laserOdometry time 7.972817 ms 
 
build tree time 3.341449 ms 
mapping data assosiation time 16.182664 ms 
mapping solver time 15.981673 ms 
--------------------stamp1317357764.326694965
mapping data assosiation time 17.031247 ms 
points size 70109 
prepare time 10.658396 
sort q time 3.861704 
seperate points time 8.950497 
filter time 1.621402 ms 
mapping pub time 1.754300 ms 
whole mapping time 77.923899 ms +++++
mappingCount 22 & avg mapping time 74.294504 ms ++++++++++++++++++++++
1317357764.222655058 WriteOdom aft_mapped_to_init
publication time 6.594677 ms 
whole laserOdometry time 6.608649 ms 
 
-----t: 0.0312158
OdomCount 23 & avg odom time 0.038569 ms ++++++++++++++++++++++
1317357764.326694965 WriteOdom laser_odom_to_init
1317357764.326694965 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.667757 ms
map corner num 14543  surf num 6593 
mapping data assosiation time 16.050742 ms 
mapping solver time 18.690389 ms 
mapping data assosiation time 15.287857 ms 
points size 70066 
prepare time 11.091478 
mapping solver time 19.698275 ms 
mapping optimization time 73.648267 
add points time 0.504680 ms
scan registration time 26.120026 ms *************
-----t: 0.0299849
OdomCount 24 & avg odom time 0.038211 ms ++++++++++++++++++++++
1317357764.430711030 WriteOdom laser_odom_to_init
publication time 5.506088 ms 
whole laserOdometry time 5.518854 ms 
 
map prepare time 1.747481 ms
map corner num 15002  surf num 6705 
build tree time 3.999965 ms 
mapping data assosiation time 17.370712 ms 
mapping solver time 18.853210 ms 
--------------------stamp1317357764.534748077
points size 71159 
mapping data assosiation time 16.608213 ms 
prepare time 10.236940 
sort q time 4.222745 
seperate points time 8.497870 
mapping pub time 1.809271 ms 
whole mapping time 82.637268 ms +++++
mappingCount 24 & avg mapping time 74.862056 ms ++++++++++++++++++++++
1317357764.430711031 WriteOdom aft_mapped_to_init
publication time 5.850317 ms 
whole laserOdometry time 5.865800 ms 
 
-----t: 0.0267442
OdomCount 25 & avg odom time 0.037753 ms ++++++++++++++++++++++
1317357764.534748077 WriteOdom laser_odom_to_init
1317357764.534748077 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.828734 ms
map corner num 15468  surf num 6825 
build tree time 3.099561 ms 
mapping data assosiation time 15.584285 ms 
mapping solver time 15.411126 ms 
mapping data assosiation time 14.869407 ms 
--------------------stamp1317357764.638786077
mapping solver time 14.435761 ms 
prepare time 10.973006 
mapping pub time 1.776112 ms 
whole mapping time 70.613095 ms +++++
mappingCount 25 & avg mapping time 74.692256 ms ++++++++++++++++++++++
1317357764.534748077 WriteOdom aft_mapped_to_init
sort q time 4.012808 
seperate points time 9.179175 
scan registration time 24.216631 ms *************
publication time 5.146610 ms 
whole laserOdometry time 5.159874 ms 
 
-----t: 0.0247661
OdomCount 26 & avg odom time 0.037253 ms ++++++++++++++++++++++
map prepare time 1.720285 ms
map corner num 15957  surf num 6944 
build tree time 3.412135 ms 
mapping data assosiation time 15.789830 ms 
mapping solver time 15.042164 ms 
mapping data assosiation time 14.140187 ms 
--------------------stamp1317357764.742799997
mapping solver time 15.278870 ms 
mapping pub time 1.928715 ms 
whole mapping time 70.222650 ms +++++
mappingCount 26 & avg mapping time 74.520496 ms ++++++++++++++++++++++
1317357764.638786077 WriteOdom aft_mapped_to_init
prepare time 10.039404 
sort q time 4.136025 
seperate points time 10.033913 
scan registration time 24.791225 ms *************
publication time 6.579718 ms 
whole laserOdometry time 6.589914 ms 
 
-----t: 0.0253603
OdomCount 27 & avg odom time 0.036813 ms ++++++++++++++++++++++
1317357764.742799997 WriteOdom laser_odom_to_init
1317357764.742799997 WriteOdom aft_mapped_to_init_high_frec
build tree time 4.233333 ms 
mapping data assosiation time 19.347402 ms 
mapping solver time 21.264216 ms 
--------------------stamp1317357764.846813917
mapping data assosiation time 18.222080 ms 
points size 79318 
prepare time 10.721336 
sort q time 3.695907 
seperate points time 8.367815 
mapping solver time 20.092097 ms 
mapping optimization time 84.098223 
add points time 0.430308 ms
filter time 1.975211 ms 
publication time 6.170815 ms 
whole laserOdometry time 6.183917 ms 
 
map prepare time 1.697128 ms
map corner num 16862  surf num 7174 
build tree time 3.376879 ms 
mapping data assosiation time 14.321146 ms 
mapping solver time 17.145259 ms 
mapping data assosiation time 14.202894 ms 
--------------------stamp1317357764.950808048
mapping solver time 16.910481 ms 
mapping optimization time 66.845175 
add points time 0.440380 ms
points size 83489 
filter time 1.953939 ms 
sort q time 4.484058 
seperate points time 10.699364 
scan registration time 30.807893 ms *************
publication time 6.620905 ms 
whole laserOdometry time 6.636358 ms 
 
map prepare time 1.559477 ms
map corner num 17244  surf num 7272 
build tree time 4.345786 ms 
mapping data assosiation time 15.534097 ms 
mapping solver time 17.533495 ms 
--------------------stamp1317357765.054774999
mapping data assosiation time 18.939339 ms 
points size 84994 
sort q time 4.387647 
seperate points time 9.025742 
scan registration time 25.253307 ms *************
mapping solver time 19.382263 ms 
mapping optimization time 76.696510 
add points time 0.419448 ms
filter time 2.026263 ms 
publication time 5.205584 ms 
whole laserOdometry time 5.220830 ms 
 
-----t: 0.0271898
OdomCount 30 & avg odom time 0.035893 ms ++++++++++++++++++++++
1317357765.054774999 WriteOdom laser_odom_to_init
1317357765.054774999 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.707012 ms
map corner num 17678  surf num 7386 
build tree time 3.967158 ms 
mapping data assosiation time 15.215264 ms 
mapping solver time 14.726759 ms 
mapping data assosiation time 14.588254 ms 
points size 85866 
mapping pub time 1.937651 ms 
whole mapping time 67.480804 ms +++++
mappingCount 30 & avg mapping time 75.085153 ms ++++++++++++++++++++++
1317357765.054775000 WriteOdom aft_mapped_to_init
sort q time 4.146708 
seperate points time 9.281272 
scan registration time 26.450689 ms *************
publication time 6.918240 ms 
whole laserOdometry time 6.936689 ms 
 
-----t: 0.0370395
OdomCount 31 & avg odom time 0.035930 ms ++++++++++++++++++++++
1317357765.158716917 WriteOdom laser_odom_to_init
1317357765.158716917 WriteOdom aft_mapped_to_init_high_frec
build tree time 3.919839 ms 
mapping data assosiation time 14.892067 ms 
mapping solver time 18.157186 ms 
--------------------stamp1317357765.262635946
mapping data assosiation time 17.347261 ms 
points size 86958 
mapping solver time 20.174829 ms 
[0m[ INFO] [1718889848.191435645, 1317357765.292565526]: Received 26191 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889848.191490288, 1317357765.292565526]: Data saved to 1317357765158716.pcd[0m
mapping pub time 2.916765 ms 
whole mapping time 83.383908 ms +++++
mappingCount 31 & avg mapping time 75.352999 ms ++++++++++++++++++++++
1317357765.158716917 WriteOdom aft_mapped_to_init
scan registration time 30.801549 ms *************
-----t: 0.0280935
OdomCount 32 & avg odom time 0.035685 ms ++++++++++++++++++++++
1317357765.262635946 WriteOdom laser_odom_to_init
1317357765.262635946 WriteOdom aft_mapped_to_init_high_frec
publication time 7.040132 ms 
whole laserOdometry time 7.055172 ms 
 
map prepare time 1.559814 ms
map corner num 18606  surf num 7585 
build tree time 4.429123 ms 
mapping data assosiation time 16.227893 ms 
mapping solver time 19.551017 ms 
--------------------stamp1317357765.366508007
points size 87533 
mapping solver time 12.077780 ms 
mapping pub time 1.983729 ms 
whole mapping time 77.628927 ms +++++
mappingCount 32 & avg mapping time 75.424368 ms ++++++++++++++++++++++
1317357765.262635946 WriteOdom aft_mapped_to_init
scan registration time 27.140514 ms *************
-----t: 0.0263467
OdomCount 33 & avg odom time 0.035402 ms ++++++++++++++++++++++
map prepare time 1.534222 ms
map corner num 19101  surf num 7718 
build tree time 4.498570 ms 
mapping data assosiation time 15.989991 ms 
mapping solver time 18.539948 ms 
--------------------stamp1317357765.470330953
points size 90752 
mapping solver time 12.738233 ms 
mapping optimization time 69.508044 
add points time 0.509089 ms
prepare time 15.977830 
mapping pub time 2.029885 ms 
whole mapping time 76.018694 ms +++++
mappingCount 33 & avg mapping time 75.442562 ms ++++++++++++++++++++++
1317357765.366508007 WriteOdom aft_mapped_to_init
sort q time 4.919748 
seperate points time 11.430646 
scan registration time 31.925423 ms *************
-----t: 0.0271399
OdomCount 34 & avg odom time 0.035159 ms ++++++++++++++++++++++
publication time 7.763084 ms 
whole laserOdometry time 7.777167 ms 
 
1317357765.470330953 WriteOdom laser_odom_to_init
1317357765.470330953 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.124158 ms
map corner num 19653  surf num 7946 
build tree time 4.255497 ms 
mapping data assosiation time 16.673365 ms 
mapping solver time 19.037175 ms 
--------------------stamp1317357765.574127912
mapping data assosiation time 20.076576 ms 
points size 93142 
sort q time 5.488578 
seperate points time 11.937043 
scan registration time 29.862895 ms *************
mapping solver time 25.366632 ms 
mapping optimization time 86.323528 
add points time 0.502013 ms
filter time 2.323605 ms 
mapping pub time 2.248044 ms 
whole mapping time 93.577725 ms +++++
mappingCount 34 & avg mapping time 75.976166 ms ++++++++++++++++++++++
1317357765.470330954 WriteOdom aft_mapped_to_init
publication time 7.328260 ms 
whole laserOdometry time 7.354583 ms 
 
map prepare time 1.881019 ms
map corner num 20268  surf num 8240 
build tree time 4.589673 ms 
mapping data assosiation time 16.816894 ms 
mapping solver time 14.916043 ms 
--------------------stamp1317357765.677880048
points size 92615 
mapping data assosiation time 22.145737 ms 
prepare time 15.728447 
sort q time 5.160697 
seperate points time 12.163715 
mapping optimization time 75.243629 
add points time 0.793600 ms
scan registration time 33.187203 ms *************
filter time 2.549299 ms 
mapping pub time 3.042993 ms 
whole mapping time 83.571205 ms +++++
mappingCount 35 & avg mapping time 76.193296 ms ++++++++++++++++++++++
1317357765.574127913 WriteOdom aft_mapped_to_init
publication time 6.380118 ms 
whole laserOdometry time 6.404572 ms 
 
map prepare time 1.720423 ms
map corner num 20886  surf num 8558 
build tree time 3.607394 ms 
mapping data assosiation time 19.012499 ms 
mapping solver time 19.810653 ms 
--------------------stamp1317357765.781652927
points size 93005 
prepare time 13.366968 
sort q time 5.251493 
seperate points time 11.215717 
mapping solver time 15.624735 ms 
mapping optimization time 81.912198 
add points time 0.498190 ms
-----t: 0.0269739
OdomCount 37 & avg odom time 0.034524 ms ++++++++++++++++++++++
1317357765.781652927 WriteOdom laser_odom_to_init
1317357765.781652927 WriteOdom aft_mapped_to_init_high_frec
publication time 9.970455 ms 
whole laserOdometry time 10.020213 ms 
 
map prepare time 2.373143 ms
map corner num 21485  surf num 8811 
build tree time 4.989162 ms 
mapping data assosiation time 19.347795 ms 
mapping solver time 20.972272 ms 
points size 93946 
mapping data assosiation time 19.612902 ms 
sort q time 6.184187 
seperate points time 11.325075 
scan registration time 28.599062 ms *************
map prepare time 1.796112 ms
map corner num 22087  surf num 9073 
build tree time 4.106324 ms 
mapping data assosiation time 18.431141 ms 
mapping solver time 20.567627 ms 
--------------------stamp1317357765.989300966
points size 93968 
sort q time 5.167365 
seperate points time 11.806217 
scan registration time 35.734198 ms *************
mapping solver time 21.451362 ms 
mapping optimization time 90.491513 
add points time 0.503398 ms
filter time 2.098059 ms 
mapping pub time 2.162367 ms 
whole mapping time 97.118369 ms +++++
mappingCount 38 & avg mapping time 77.664919 ms ++++++++++++++++++++++
1317357765.885476112 WriteOdom aft_mapped_to_init
build tree time 5.195229 ms 
mapping data assosiation time 19.787655 ms 
mapping solver time 17.965560 ms 
points size 93522 
prepare time 12.840620 
mapping data assosiation time 20.901552 ms 
scan registration time 28.656706 ms *************
add points time 0.510075 ms
filter time 2.900770 ms 
-----t: 0.0360329
OdomCount 40 & avg odom time 0.034119 ms ++++++++++++++++++++++
1317357766.093147039 WriteOdom laser_odom_to_init
1317357766.093147039 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.762041 ms
map corner num 23251  surf num 9546 
build tree time 5.913492 ms 
mapping data assosiation time 18.115027 ms 
--------------------stamp1317357766.197015047
points size 93247 
prepare time 16.346989 
mapping data assosiation time 20.972482 ms 
sort q time 5.370138 
seperate points time 12.395322 
scan registration time 34.175122 ms *************
mapping solver time 15.637508 ms 
filter time 4.146602 ms 
publication time 7.252584 ms 
whole laserOdometry time 7.265662 ms 
 
mapping pub time 3.664115 ms 
whole mapping time 93.333512 ms +++++
mappingCount 40 & avg mapping time 78.364892 ms ++++++++++++++++++++++
1317357766.093147039 WriteOdom aft_mapped_to_init
-----t: 0.0485821
OdomCount 41 & avg odom time 0.034471 ms ++++++++++++++++++++++
map prepare time 1.815826 ms
map corner num 23804  surf num 9770 
build tree time 5.316902 ms 
mapping data assosiation time 18.405395 ms 
--------------------stamp1317357766.300884008
points size 90624 
prepare time 12.414878 
mapping solver time 21.450156 ms 
sort q time 5.925822 
seperate points time 12.486068 
scan registration time 29.977545 ms *************
mapping data assosiation time 23.058088 ms 
publication time 6.997741 ms 
whole laserOdometry time 7.015917 ms 
 
1317357766.300884008 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.395577 ms 
[0m[ INFO] [1718889849.259863629, 1317357766.355886074]: Received 34278 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889849.259903584, 1317357766.355886074]: Data saved to 1317357766197015.pcd[0m
mapping pub time 2.868570 ms 
whole mapping time 94.294321 ms +++++
mappingCount 41 & avg mapping time 78.753536 ms ++++++++++++++++++++++
1317357766.197015047 WriteOdom aft_mapped_to_init
build tree time 6.145225 ms 
mapping data assosiation time 18.592359 ms 
--------------------stamp1317357766.404755115
points size 88517 
mapping solver time 22.288608 ms 
prepare time 10.604000 
sort q time 4.894333 
seperate points time 10.737875 
scan registration time 25.406642 ms *************
mapping data assosiation time 23.392544 ms 
publication time 11.107417 ms 
whole laserOdometry time 11.121826 ms 
 
mapping solver time 20.440594 ms 
1317357766.404755115 WriteOdom laser_odom_to_init
1317357766.404755115 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.088405 ms 
whole mapping time 98.898617 ms +++++
mappingCount 42 & avg mapping time 79.233273 ms ++++++++++++++++++++++
1317357766.300884008 WriteOdom aft_mapped_to_init
build tree time 5.128230 ms 
mapping data assosiation time 18.766344 ms 
mapping solver time 20.466012 ms 
points size 87391 
mapping data assosiation time 18.317782 ms 
sort q time 4.688921 
seperate points time 10.592083 
scan registration time 26.706796 ms *************
mapping solver time 15.270443 ms 
map prepare time 1.657175 ms
map corner num 25250  surf num 10294 
build tree time 5.745541 ms 
mapping data assosiation time 17.127892 ms 
mapping solver time 16.523971 ms 
--------------------stamp1317357766.612523078
points size 85088 
prepare time 12.257295 
add points time 0.507074 ms
filter time 2.411741 ms 
mapping pub time 1.934207 ms 
whole mapping time 79.917889 ms +++++
mappingCount 44 & avg mapping time 79.396522 ms ++++++++++++++++++++++
1317357766.508626938 WriteOdom aft_mapped_to_init
-----t: 0.0254668
OdomCount 45 & avg odom time 0.034363 ms ++++++++++++++++++++++
1317357766.612523078 WriteOdom laser_odom_to_init
1317357766.612523078 WriteOdom aft_mapped_to_init_high_frec
publication time 5.157664 ms 
whole laserOdometry time 5.164481 ms 
 
map prepare time 1.957614 ms
map corner num 25695  surf num 10442 
build tree time 6.151985 ms 
mapping data assosiation time 16.205821 ms 
mapping solver time 15.977520 ms 
mapping data assosiation time 15.646667 ms 
--------------------stamp1317357766.716417074
mapping solver time 16.346352 ms 
points size 83274 
mapping pub time 1.935648 ms 
whole mapping time 78.110862 ms +++++
mappingCount 45 & avg mapping time 79.368073 ms ++++++++++++++++++++++
1317357766.612523079 WriteOdom aft_mapped_to_init
sort q time 4.772349 
seperate points time 10.576248 
scan registration time 28.178414 ms *************
-----t: 0.0265953
OdomCount 46 & avg odom time 0.034194 ms ++++++++++++++++++++++
publication time 5.954833 ms 
whole laserOdometry time 5.966540 ms 
 
map prepare time 1.489675 ms
map corner num 26090  surf num 10557 
build tree time 5.499259 ms 
mapping data assosiation time 15.041084 ms 
mapping solver time 17.515923 ms 
--------------------stamp1317357766.820334911
points size 81076 
prepare time 12.301795 
mapping solver time 17.872487 ms 
mapping optimization time 72.929587 
add points time 0.555195 ms
filter time 2.312500 ms 
[0m[ INFO] [1718889849.742694132, 1317357766.844461977]: Received 37138 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889849.742727802, 1317357766.844461977]: Data saved to 1317357766716417.pcd[0m
mapping pub time 2.489037 ms 
whole mapping time 79.828928 ms +++++
mappingCount 46 & avg mapping time 79.378232 ms ++++++++++++++++++++++
sort q time 4.888989 
seperate points time 10.830278 
-----t: 0.0240992
OdomCount 47 & avg odom time 0.033980 ms ++++++++++++++++++++++
1317357766.820334911 WriteOdom laser_odom_to_init
1317357766.820334911 WriteOdom aft_mapped_to_init_high_frec
publication time 5.425109 ms 
whole laserOdometry time 5.435082 ms 
 
map prepare time 2.020995 ms
map corner num 26491  surf num 10647 
build tree time 7.121928 ms 
mapping data assosiation time 18.158843 ms 
mapping solver time 16.935177 ms 
--------------------stamp1317357766.924278020
mapping data assosiation time 16.071064 ms 
mapping solver time 12.745300 ms 
mapping optimization time 71.856117 
add points time 0.455361 ms
sort q time 4.350651 
seperate points time 10.072285 
filter time 2.841315 ms 
-----t: 0.0237966
OdomCount 48 & avg odom time 0.033768 ms ++++++++++++++++++++++
1317357766.924278020 WriteOdom laser_odom_to_init
1317357766.924278020 WriteOdom aft_mapped_to_init_high_frec
publication time 5.707894 ms 
whole laserOdometry time 5.716159 ms 
 
map prepare time 1.421227 ms
map corner num 26858  surf num 10725 
build tree time 6.177592 ms 
mapping data assosiation time 15.687864 ms 
mapping solver time 17.390079 ms 
mapping data assosiation time 13.635602 ms 
--------------------stamp1317357767.028222084
points size 77242 
filter time 3.189757 ms 
mapping pub time 1.860844 ms 
whole mapping time 79.500585 ms +++++
mappingCount 48 & avg mapping time 79.380003 ms ++++++++++++++++++++++
1317357766.924278021 WriteOdom aft_mapped_to_init
sort q time 4.634146 
seperate points time 9.162511 
scan registration time 26.251014 ms *************
-----t: 0.0227209
OdomCount 49 & avg odom time 0.033542 ms ++++++++++++++++++++++
1317357767.028222084 WriteOdom laser_odom_to_init
1317357767.028222084 WriteOdom aft_mapped_to_init_high_frec
publication time 5.542164 ms 
whole laserOdometry time 5.557239 ms 
 
map prepare time 1.393950 ms
map corner num 27185  surf num 10818 
build tree time 4.990989 ms 
mapping data assosiation time 14.002873 ms 
mapping solver time 13.674243 ms 
mapping data assosiation time 13.493136 ms 
--------------------stamp1317357767.132189989
mapping solver time 16.893067 ms 
mapping optimization time 63.954657 
add points time 0.477704 ms
points size 77416 
filter time 3.370593 ms 
prepare time 13.364099 
mapping pub time 2.052248 ms 
whole mapping time 71.299247 ms +++++
mappingCount 49 & avg mapping time 79.215220 ms ++++++++++++++++++++++
1317357767.028222084 WriteOdom aft_mapped_to_init
sort q time 4.051761 
seperate points time 8.906669 
-----t: 0.0245094
OdomCount 50 & avg odom time 0.033361 ms ++++++++++++++++++++++
1317357767.132189989 WriteOdom laser_odom_to_init
1317357767.132189989 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.641868 ms
map corner num 27538  surf num 10913 
build tree time 5.773858 ms 
mapping data assosiation time 15.395028 ms 
mapping solver time 17.187108 ms 
mapping data assosiation time 14.103012 ms 
--------------------stamp1317357767.236156940
filter time 2.341266 ms 
mapping pub time 1.923862 ms 
whole mapping time 70.575262 ms +++++
mappingCount 50 & avg mapping time 79.042524 ms ++++++++++++++++++++++
1317357767.132189989 WriteOdom aft_mapped_to_init
points size 78864 
sort q time 3.891686 
seperate points time 8.199145 
publication time 4.888449 ms 
whole laserOdometry time 4.919440 ms 
 
-----t: 0.0315268
OdomCount 51 & avg odom time 0.033325 ms ++++++++++++++++++++++
1317357767.236156940 WriteOdom laser_odom_to_init
1317357767.236156940 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.654407 ms
map corner num 27911  surf num 11012 
build tree time 5.662820 ms 
mapping data assosiation time 13.729232 ms 
mapping solver time 16.644007 ms 
mapping data assosiation time 14.958329 ms 
mapping solver time 12.215022 ms 
points size 79779 
mapping optimization time 64.046082 
add points time 0.522483 ms
prepare time 11.811573 
filter time 2.898612 ms 
[0m[ INFO] [1718889850.253533988, 1317357767.349691806]: Received 39377 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889850.253578620, 1317357767.349691806]: Data saved to 1317357767236156.pcd[0m
mapping pub time 2.305715 ms 
whole mapping time 71.482829 ms +++++
mappingCount 51 & avg mapping time 78.894440 ms ++++++++++++++++++++++
1317357767.236156940 WriteOdom aft_mapped_to_init
sort q time 4.378692 
seperate points time 11.620797 
scan registration time 26.870786 ms *************
-----t: 0.0253252
OdomCount 52 & avg odom time 0.033172 ms ++++++++++++++++++++++
publication time 7.101314 ms 
whole laserOdometry time 7.123430 ms 
 
map prepare time 1.480962 ms
map corner num 28269  surf num 11108 
build tree time 6.087452 ms 
mapping data assosiation time 14.501893 ms 
mapping solver time 13.668119 ms 
mapping data assosiation time 14.297825 ms 
points size 80882 
sort q time 4.315144 
seperate points time 10.033105 
publication time 6.684168 ms 
whole laserOdometry time 6.696896 ms 
 
-----t: 0.0265728
OdomCount 53 & avg odom time 0.033047 ms ++++++++++++++++++++++
1317357767.444091081 WriteOdom laser_odom_to_init
1317357767.444091081 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.695690 ms
map corner num 28633  surf num 11202 
build tree time 5.952159 ms 
mapping data assosiation time 13.443994 ms 
mapping solver time 13.249044 ms 
mapping data assosiation time 14.176752 ms 
--------------------stamp1317357767.548057079
filter time 2.473446 ms 
mapping pub time 1.859845 ms 
whole mapping time 69.345555 ms +++++
mappingCount 53 & avg mapping time 78.487000 ms ++++++++++++++++++++++
1317357767.444091082 WriteOdom aft_mapped_to_init
points size 80951 
prepare time 14.888329 
sort q time 4.220847 
seperate points time 9.812317 
scan registration time 28.174573 ms *************
-----t: 0.0226403
OdomCount 54 & avg odom time 0.032854 ms ++++++++++++++++++++++
publication time 5.114221 ms 
whole laserOdometry time 5.126979 ms 
 
map prepare time 1.470809 ms
map corner num 28993  surf num 11300 
build tree time 6.641122 ms 
mapping data assosiation time 14.854966 ms 
mapping solver time 14.619265 ms 
mapping data assosiation time 14.020479 ms 
--------------------stamp1317357767.652046918
points size 81198 
mapping solver time 19.023362 ms 
prepare time 13.916580 
mapping optimization time 69.938103 
filter time 3.225228 ms 
mapping pub time 1.954042 ms 
whole mapping time 77.128436 ms +++++
mappingCount 54 & avg mapping time 78.461983 ms ++++++++++++++++++++++
1317357767.548057079 WriteOdom aft_mapped_to_init
sort q time 4.835813 
seperate points time 9.946209 
publication time 5.849308 ms 
whole laserOdometry time 5.862488 ms 
 
-----t: 0.0272757
OdomCount 55 & avg odom time 0.032753 ms ++++++++++++++++++++++
1317357767.652046918 WriteOdom laser_odom_to_init
1317357767.652046918 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.935058 ms
map corner num 29347  surf num 11395 
build tree time 5.638228 ms 
mapping data assosiation time 15.761049 ms 
mapping solver time 17.756905 ms 
mapping data assosiation time 14.159819 ms 
--------------------stamp1317357767.756036043
mapping solver time 11.510477 ms 
mapping optimization time 65.723109 
add points time 0.466340 ms
filter time 2.364094 ms 
points size 82302 
sort q time 4.712457 
seperate points time 9.149612 
scan registration time 26.327014 ms *************
-----t: 0.0261011
OdomCount 56 & avg odom time 0.032634 ms ++++++++++++++++++++++
1317357767.756036043 WriteOdom laser_odom_to_init
publication time 5.765637 ms 
whole laserOdometry time 5.777539 ms 
 
1317357767.756036043 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.589405 ms
map corner num 29732  surf num 11496 
build tree time 7.523414 ms 
mapping data assosiation time 14.879363 ms 
mapping solver time 13.892281 ms 
mapping data assosiation time 13.290523 ms 
--------------------stamp1317357767.860024929
filter time 3.084869 ms 
points size 83565 
prepare time 13.243560 
sort q time 4.743042 
seperate points time 10.991066 
-----t: 0.022813
OdomCount 57 & avg odom time 0.032462 ms ++++++++++++++++++++++
publication time 5.820275 ms 
whole laserOdometry time 5.835610 ms 
 
map prepare time 1.699479 ms
map corner num 30103  surf num 11593 
build tree time 6.277972 ms 
mapping data assosiation time 14.946048 ms 
mapping solver time 14.347878 ms 
mapping data assosiation time 15.404406 ms 
--------------------stamp1317357767.964040994
points size 83024 
prepare time 15.064271 
filter time 2.515292 ms 
mapping pub time 1.957233 ms 
whole mapping time 74.625759 ms +++++
mappingCount 57 & avg mapping time 78.131440 ms ++++++++++++++++++++++
1317357767.860024929 WriteOdom aft_mapped_to_init
sort q time 4.437996 
seperate points time 10.612442 
scan registration time 29.698147 ms *************
-----t: 0.0221248
OdomCount 58 & avg odom time 0.032284 ms ++++++++++++++++++++++
1317357767.964040994 WriteOdom aft_mapped_to_init_high_frec
1317357767.964040994 WriteOdom laser_odom_to_init
publication time 6.175226 ms 
whole laserOdometry time 6.186578 ms 
 
map prepare time 1.600566 ms
map corner num 30448  surf num 11716 
build tree time 6.705789 ms 
mapping data assosiation time 15.108198 ms 
mapping solver time 13.334642 ms 
--------------------stamp1317357768.068082094
points size 82416 
mapping solver time 14.706167 ms 
mapping optimization time 65.980760 
add points time 0.489548 ms
scan registration time 26.010012 ms *************
-----t: 0.0231416
OdomCount 59 & avg odom time 0.032129 ms ++++++++++++++++++++++
1317357768.068082094 WriteOdom laser_odom_to_init
1317357768.068082094 WriteOdom aft_mapped_to_init_high_frec
publication time 5.587279 ms 
whole laserOdometry time 5.599716 ms 
 
map prepare time 1.776324 ms
map corner num 30814  surf num 11854 
build tree time 6.556891 ms 
mapping data assosiation time 13.520675 ms 
mapping solver time 14.663203 ms 
mapping data assosiation time 15.797122 ms 
--------------------stamp1317357768.172146081
filter time 2.628278 ms 
points size 81860 
prepare time 14.663698 
sort q time 4.209855 
seperate points time 9.778948 
publication time 5.593772 ms 
whole laserOdometry time 5.605651 ms 
 
1317357768.172146081 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.953651 ms
map corner num 31169  surf num 12013 
build tree time 6.817890 ms 
mapping data assosiation time 14.823412 ms 
mapping solver time 14.903365 ms 
mapping data assosiation time 15.238428 ms 
points size 82633 
add points time 0.561997 ms
filter time 2.532216 ms 
mapping pub time 1.795038 ms 
whole mapping time 72.248209 ms +++++
mappingCount 60 & avg mapping time 77.831742 ms ++++++++++++++++++++++
1317357768.172146082 WriteOdom aft_mapped_to_init
scan registration time 23.740133 ms *************
publication time 5.683021 ms 
whole laserOdometry time 5.697609 ms 
 
-----t: 0.03357
OdomCount 61 & avg odom time 0.032123 ms ++++++++++++++++++++++
1317357768.276232004 WriteOdom laser_odom_to_init
map prepare time 1.547651 ms
map corner num 31547  surf num 12142 
build tree time 7.643339 ms 
mapping data assosiation time 17.662053 ms 
mapping solver time 15.632882 ms 
--------------------stamp1317357768.380319118
points size 82080 
mapping data assosiation time 17.339908 ms 
prepare time 11.333057 
sort q time 4.368572 
seperate points time 10.201801 
mapping solver time 13.366593 ms 
mapping optimization time 72.723877 
add points time 0.559735 ms
scan registration time 25.474914 ms *************
filter time 3.425111 ms 
[0m[ INFO] [1718889851.309524019, 1317357768.400391375]: Received 44239 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889851.309562067, 1317357768.400391375]: Data saved to 1317357768276232.pcd[0m
mapping pub time 3.341831 ms 
whole mapping time 81.660662 ms +++++
mappingCount 61 & avg mapping time 77.894580 ms ++++++++++++++++++++++
1317357768.276232004 WriteOdom aft_mapped_to_init
publication time 6.793487 ms 
whole laserOdometry time 6.806043 ms 
 
-----t: 0.0413539
OdomCount 62 & avg odom time 0.032272 ms ++++++++++++++++++++++
1317357768.380319118 WriteOdom laser_odom_to_init
1317357768.380319118 WriteOdom aft_mapped_to_init_high_frec
build tree time 6.560381 ms 
mapping data assosiation time 15.380311 ms 
mapping solver time 15.678031 ms 
--------------------stamp1317357768.484381914
points size 81828 
mapping solver time 11.865920 ms 
mapping pub time 1.968930 ms 
whole mapping time 74.944918 ms +++++
mappingCount 62 & avg mapping time 77.847181 ms ++++++++++++++++++++++
1317357768.380319118 WriteOdom aft_mapped_to_init
-----t: 0.0297454
OdomCount 63 & avg odom time 0.032232 ms ++++++++++++++++++++++
publication time 5.789641 ms 
whole laserOdometry time 5.804972 ms 
 
map prepare time 1.838932 ms
map corner num 32302  surf num 12416 
build tree time 6.191050 ms 
mapping data assosiation time 14.598864 ms 
mapping solver time 15.548708 ms 
--------------------stamp1317357768.588468074
points size 82110 
mapping solver time 12.701155 ms 
mapping optimization time 65.902966 
add points time 0.509545 ms
scan registration time 25.415523 ms *************
publication time 6.661825 ms 
whole laserOdometry time 6.676861 ms 
 
map prepare time 1.567125 ms
map corner num 32682  surf num 12532 
build tree time 6.403794 ms 
mapping data assosiation time 15.791005 ms 
mapping solver time 15.742134 ms 
mapping data assosiation time 16.084588 ms 
--------------------stamp1317357768.692553997
mapping solver time 13.378478 ms 
mapping optimization time 68.376154 
add points time 0.517168 ms
points size 82726 
filter time 2.796832 ms 
sort q time 4.457993 
seperate points time 10.588438 
-----t: 0.0280833
OdomCount 65 & avg odom time 0.032067 ms ++++++++++++++++++++++
map prepare time 1.628226 ms
map corner num 33067  surf num 12635 
build tree time 7.539214 ms 
mapping data assosiation time 16.269143 ms 
mapping solver time 18.685523 ms 
--------------------stamp1317357768.796639919
prepare time 13.950952 
add points time 0.532979 ms
sort q time 5.131656 
seperate points time 10.214897 
filter time 3.332694 ms 
mapping pub time 1.981621 ms 
whole mapping time 85.453066 ms +++++
mappingCount 65 & avg mapping time 77.863100 ms ++++++++++++++++++++++
1317357768.692553997 WriteOdom aft_mapped_to_init
scan registration time 28.123293 ms *************
-----t: 0.0276088
OdomCount 66 & avg odom time 0.031999 ms ++++++++++++++++++++++
1317357768.796639919 WriteOdom laser_odom_to_init
1317357768.796639919 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.761025 ms
map corner num 33432  surf num 12724 
build tree time 7.975472 ms 
mapping data assosiation time 16.220625 ms 
mapping solver time 17.123278 ms 
--------------------stamp1317357768.900774955
mapping data assosiation time 18.216845 ms 
points size 84805 
prepare time 14.949519 
mapping solver time 19.635142 ms 
filter time 3.805830 ms 
scan registration time 30.118491 ms *************
mapping pub time 2.643521 ms 
whole mapping time 88.846279 ms +++++
mappingCount 66 & avg mapping time 78.029569 ms ++++++++++++++++++++++
1317357768.796639919 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889851.832142023, 1317357768.931502303]: Received 46642 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889851.832190536, 1317357768.931502303]: Data saved to 1317357768796639.pcd[0m
-----t: 0.0278355
OdomCount 67 & avg odom time 0.031937 ms ++++++++++++++++++++++
1317357768.900774955 WriteOdom laser_odom_to_init
1317357768.900774955 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.660036 ms
map corner num 33802  surf num 12840 
build tree time 7.925096 ms 
mapping data assosiation time 17.490069 ms 
mapping solver time 16.617269 ms 
--------------------stamp1317357769.004909992
points size 85213 
sort q time 4.572999 
seperate points time 10.693364 
scan registration time 29.156678 ms *************
filter time 3.024241 ms 
mapping pub time 2.043109 ms 
whole mapping time 90.550824 ms +++++
mappingCount 67 & avg mapping time 78.216510 ms ++++++++++++++++++++++
1317357768.900774956 WriteOdom aft_mapped_to_init
-----t: 0.030402
OdomCount 68 & avg odom time 0.031914 ms ++++++++++++++++++++++
1317357769.004909992 WriteOdom laser_odom_to_init
1317357769.004909992 WriteOdom aft_mapped_to_init_high_frec
build tree time 6.504693 ms 
mapping data assosiation time 15.090995 ms 
mapping solver time 15.032826 ms 
--------------------stamp1317357769.109019994
points size 85002 
mapping solver time 12.529729 ms 
sort q time 4.610922 
seperate points time 10.244960 
mapping pub time 1.883423 ms 
whole mapping time 74.145981 ms +++++
mappingCount 68 & avg mapping time 78.156728 ms ++++++++++++++++++++++
1317357769.004909992 WriteOdom aft_mapped_to_init
scan registration time 25.945374 ms *************
-----t: 0.0252432
OdomCount 69 & avg odom time 0.031818 ms ++++++++++++++++++++++
map prepare time 1.763248 ms
map corner num 34542  surf num 13041 
build tree time 8.953756 ms 
mapping data assosiation time 17.127633 ms 
mapping solver time 20.256003 ms 
--------------------stamp1317357769.213151931
mapping data assosiation time 20.349951 ms 
points size 84945 
sort q time 4.531790 
seperate points time 10.646330 
scan registration time 31.069296 ms *************
mapping solver time 21.683473 ms 
mapping optimization time 89.360547 
add points time 0.492698 ms
-----t: 0.0311109
OdomCount 70 & avg odom time 0.031808 ms ++++++++++++++++++++++
1317357769.213151931 WriteOdom laser_odom_to_init
1317357769.213151931 WriteOdom aft_mapped_to_init_high_frec
publication time 6.143962 ms 
whole laserOdometry time 6.158146 ms 
 
map prepare time 1.725859 ms
map corner num 34911  surf num 13172 
build tree time 6.087675 ms 
mapping data assosiation time 14.219603 ms 
mapping solver time 17.864349 ms 
--------------------stamp1317357769.317287921
mapping data assosiation time 16.398302 ms 
points size 85578 
sort q time 4.813892 
seperate points time 10.078764 
mapping solver time 17.892618 ms 
mapping optimization time 73.292693 
add points time 0.523619 ms
scan registration time 27.050837 ms *************
publication time 6.648935 ms 
whole laserOdometry time 6.664898 ms 
 
-----t: 0.0372869
OdomCount 71 & avg odom time 0.031885 ms ++++++++++++++++++++++
map prepare time 1.992347 ms
map corner num 35298  surf num 13303 
build tree time 7.261633 ms 
mapping data assosiation time 16.743667 ms 
mapping solver time 19.739956 ms 
--------------------stamp1317357769.421423912
points size 87990 
prepare time 12.295854 
sort q time 4.673807 
seperate points time 10.914887 
mapping solver time 15.056394 ms 
mapping optimization time 79.490920 
add points time 0.540630 ms
filter time 3.733068 ms 
publication time 9.288984 ms 
whole laserOdometry time 9.300660 ms 
 
map prepare time 2.170158 ms
map corner num 35739  surf num 13474 
build tree time 7.545560 ms 
mapping solver time 18.558866 ms 
--------------------stamp1317357769.525608062
points size 90191 
mapping solver time 14.536548 ms 
sort q time 4.910133 
seperate points time 11.438873 
mapping optimization time 78.656711 
add points time 0.535250 ms
scan registration time 28.895168 ms *************
filter time 3.777996 ms 
-----t: 0.0318332
OdomCount 73 & avg odom time 0.031906 ms ++++++++++++++++++++++
1317357769.525608062 WriteOdom laser_odom_to_init
1317357769.525608062 WriteOdom aft_mapped_to_init_high_frec
publication time 10.335513 ms 
whole laserOdometry time 10.350166 ms 
 
map prepare time 2.006652 ms
map corner num 36214  surf num 13633 
build tree time 7.750842 ms 
mapping data assosiation time 17.504382 ms 
mapping solver time 20.456542 ms 
points size 92263 
prepare time 12.811063 
mapping data assosiation time 19.947891 ms 
sort q time 5.866749 
seperate points time 11.111249 
mapping solver time 20.695948 ms 
mapping optimization time 87.436211 
add points time 0.575169 ms
filter time 3.715576 ms 
1317357769.629813909 WriteOdom laser_odom_to_init
1317357769.629813909 WriteOdom aft_mapped_to_init_high_frec
build tree time 6.688795 ms 
mapping data assosiation time 16.352592 ms 
mapping solver time 21.119465 ms 
points size 93870 
prepare time 16.234428 
mapping data assosiation time 17.906900 ms 
sort q time 5.359610 
seperate points time 11.479532 
mapping optimization time 79.888965 
add points time 0.633591 ms
filter time 3.845089 ms 
mapping pub time 2.149129 ms 
whole mapping time 88.520768 ms +++++
mappingCount 74 & avg mapping time 79.114275 ms ++++++++++++++++++++++
1317357769.629813910 WriteOdom aft_mapped_to_init
publication time 6.622535 ms 
whole laserOdometry time 6.637682 ms 
 
-----t: 0.0324946
OdomCount 75 & avg odom time 0.031926 ms ++++++++++++++++++++++
map prepare time 1.965399 ms
map corner num 36899  surf num 13829 
build tree time 9.068298 ms 
mapping data assosiation time 17.566980 ms 
mapping solver time 17.650069 ms 
points size 95666 
prepare time 14.626961 
mapping data assosiation time 19.911948 ms 
sort q time 5.672626 
seperate points time 12.479397 
scan registration time 32.764011 ms *************
mapping solver time 14.789473 ms 
mapping optimization time 80.287076 
add points time 0.562705 ms
-----t: 0.0313325
OdomCount 76 & avg odom time 0.031918 ms ++++++++++++++++++++++
1317357769.838277101 WriteOdom laser_odom_to_init
1317357769.838277101 WriteOdom aft_mapped_to_init_high_frec
publication time 7.703470 ms 
whole laserOdometry time 7.718658 ms 
 
map prepare time 2.021399 ms
map corner num 37230  surf num 13939 
build tree time 7.043298 ms 
mapping data assosiation time 16.646368 ms 
--------------------stamp1317357769.942506074
mapping solver time 21.583270 ms 
prepare time 11.713972 
sort q time 5.443057 
seperate points time 12.302040 
scan registration time 28.961904 ms *************
publication time 8.103156 ms 
whole laserOdometry time 8.119270 ms 
 
-----t: 0.0316924
OdomCount 77 & avg odom time 0.031915 ms ++++++++++++++++++++++
mapping solver time 21.445231 ms 
1317357769.942506074 WriteOdom laser_odom_to_init
1317357769.942506074 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 87.672058 
add points time 0.528680 ms
filter time 3.325680 ms 
[0m[ INFO] [1718889852.895423926, 1317357769.996171580]: Received 51554 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889852.895466550, 1317357769.996171580]: Data saved to 1317357769838277.pcd[0m
mapping pub time 2.872370 ms 
whole mapping time 96.466824 ms +++++
mappingCount 76 & avg mapping time 79.470832 ms ++++++++++++++++++++++
1317357769.838277102 WriteOdom aft_mapped_to_init
map prepare time 2.194424 ms
map corner num 37538  surf num 14016 
mapping data assosiation time 16.485440 ms 
mapping solver time 16.625870 ms 
--------------------stamp1317357770.046736001
points size 94905 
mapping data assosiation time 19.495936 ms 
prepare time 16.524651 
sort q time 5.167817 
seperate points time 11.933747 
mapping solver time 15.716615 ms 
mapping optimization time 76.026378 
add points time 0.567451 ms
mapping pub time 2.225556 ms 
whole mapping time 85.028300 ms +++++
mappingCount 77 & avg mapping time 79.543074 ms ++++++++++++++++++++++
1317357769.942506075 WriteOdom aft_mapped_to_init
-----t: 0.0357917
OdomCount 78 & avg odom time 0.031965 ms ++++++++++++++++++++++
1317357770.046736001 WriteOdom laser_odom_to_init
1317357770.046736001 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.008029 ms
map corner num 37851  surf num 14102 
build tree time 8.965349 ms 
mapping data assosiation time 18.876384 ms 
--------------------stamp1317357770.150990962
points size 94935 
prepare time 12.664382 
mapping data assosiation time 21.086957 ms 
sort q time 6.243917 
seperate points time 11.796722 
mapping optimization time 83.813855 
add points time 0.571673 ms
publication time 19.457175 ms 
whole laserOdometry time 19.471502 ms 
 
-----t: 0.0497537
OdomCount 79 & avg odom time 0.032190 ms ++++++++++++++++++++++
1317357770.150990962 WriteOdom laser_odom_to_init
map prepare time 2.255511 ms
map corner num 38203  surf num 14216 
build tree time 7.766905 ms 
mapping data assosiation time 17.466640 ms 
--------------------stamp1317357770.255248069
points size 94399 
mapping solver time 22.068302 ms 
sort q time 6.075853 
seperate points time 11.934445 
scan registration time 29.591764 ms *************
publication time 10.073344 ms 
whole laserOdometry time 10.106045 ms 
 
mapping solver time 21.050366 ms 
mapping optimization time 91.076886 
add points time 0.575147 ms
filter time 4.053688 ms 
map prepare time 2.343203 ms
map corner num 38586  surf num 14335 
build tree time 7.939983 ms 
mapping data assosiation time 19.055854 ms 
--------------------stamp1317357770.359503030
points size 94263 
mapping solver time 20.544909 ms 
prepare time 14.535396 
sort q time 5.330655 
seperate points time 12.223785 
mapping data assosiation time 23.474548 ms 
-----t: 0.034658
OdomCount 81 & avg odom time 0.032468 ms ++++++++++++++++++++++
1317357770.359503030 WriteOdom laser_odom_to_init
1317357770.359503030 WriteOdom aft_mapped_to_init_high_frec
publication time 8.601181 ms 
whole laserOdometry time 8.630057 ms 
 
mapping optimization time 93.818643 
add points time 0.555581 ms
filter time 3.043148 ms 
mapping pub time 2.095214 ms 
whole mapping time 101.917466 ms +++++
mappingCount 80 & avg mapping time 80.239582 ms ++++++++++++++++++++++
1317357770.255248070 WriteOdom aft_mapped_to_init
build tree time 9.030914 ms 
mapping data assosiation time 19.967806 ms 
--------------------stamp1317357770.463783025
points size 94153 
prepare time 10.748043 
mapping solver time 25.246024 ms 
sort q time 4.945248 
seperate points time 11.569389 
mapping data assosiation time 22.858128 ms 
publication time 6.938074 ms 
whole laserOdometry time 6.966256 ms 
 
-----t: 0.0350517
OdomCount 82 & avg odom time 0.032499 ms ++++++++++++++++++++++
mapping solver time 15.827919 ms 
mapping optimization time 93.953614 
add points time 0.571963 ms
mapping pub time 4.496324 ms 
whole mapping time 104.226671 ms +++++
mappingCount 81 & avg mapping time 80.535779 ms ++++++++++++++++++++++
1317357770.359503031 WriteOdom aft_mapped_to_init
build tree time 9.026664 ms 
mapping data assosiation time 19.403728 ms 
points size 92609 
mapping solver time 21.207156 ms 
scan registration time 26.861328 ms *************
mapping data assosiation time 23.168387 ms 
-----t: 0.0401664
OdomCount 83 & avg odom time 0.032592 ms ++++++++++++++++++++++
1317357770.568058967 WriteOdom aft_mapped_to_init_high_frec
1317357770.568058967 WriteOdom laser_odom_to_init
publication time 18.740903 ms 
whole laserOdometry time 18.748801 ms 
 
mapping solver time 21.127002 ms 
mapping optimization time 95.079876 
add points time 0.628124 ms
mapping pub time 2.113707 ms 
whole mapping time 104.862702 ms +++++
mappingCount 82 & avg mapping time 80.832495 ms ++++++++++++++++++++++
1317357770.463783026 WriteOdom aft_mapped_to_init
map prepare time 2.119744 ms
map corner num 39728  surf num 14733 
build tree time 8.489812 ms 
mapping data assosiation time 19.474295 ms 
points size 92097 
mapping solver time 24.741668 ms 
sort q time 5.458754 
seperate points time 12.962447 
scan registration time 33.904274 ms *************
mapping data assosiation time 23.771001 ms 
publication time 8.701527 ms 
whole laserOdometry time 8.715623 ms 
 
-----t: 0.0480197
OdomCount 84 & avg odom time 0.032775 ms ++++++++++++++++++++++
1317357770.672360897 WriteOdom laser_odom_to_init
1317357770.672360897 WriteOdom aft_mapped_to_init_high_frec
filter time 3.066715 ms 
mapping pub time 2.065694 ms 
whole mapping time 101.520082 ms +++++
mappingCount 83 & avg mapping time 81.081811 ms ++++++++++++++++++++++
1317357770.568058968 WriteOdom aft_mapped_to_init
map prepare time 2.437997 ms
map corner num 40075  surf num 14884 
build tree time 8.673249 ms 
mapping data assosiation time 18.901828 ms 
points size 92222 
prepare time 15.201912 
mapping solver time 25.418519 ms 
sort q time 5.619892 
seperate points time 13.203148 
scan registration time 34.052911 ms *************
-----t: 0.0342109
OdomCount 85 & avg odom time 0.032792 ms ++++++++++++++++++++++
mapping data assosiation time 23.450603 ms 
1317357770.776640892 WriteOdom laser_odom_to_init
1317357770.776640892 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.337576 ms 
mapping optimization time 93.982671 
add points time 0.589872 ms
filter time 3.206347 ms 
map prepare time 2.259944 ms
map corner num 40378  surf num 15011 
build tree time 7.567404 ms 
mapping data assosiation time 18.611834 ms 
points size 92330 
prepare time 12.710494 
sort q time 5.303689 
seperate points time 11.439166 
scan registration time 28.310296 ms *************
mapping data assosiation time 23.538712 ms 
publication time 9.201273 ms 
whole laserOdometry time 9.215712 ms 
 
mapping solver time 12.233425 ms 
mapping optimization time 82.386721 
add points time 0.583626 ms
filter time 3.479248 ms 
-----t: 0.0484003
OdomCount 86 & avg odom time 0.032974 ms ++++++++++++++++++++++
map prepare time 2.142612 ms
map corner num 40723  surf num 15145 
build tree time 9.821803 ms 
mapping data assosiation time 19.929365 ms 
points size 92304 
mapping solver time 19.898752 ms 
sort q time 12.161486 
seperate points time 19.678395 
scan registration time 37.091307 ms *************
mapping data assosiation time 22.754510 ms 
publication time 8.340358 ms 
whole laserOdometry time 8.354889 ms 
 
mapping solver time 19.968070 ms 
mapping optimization time 93.538037 
add points time 0.680611 ms
[0m[ INFO] [1718889853.950939388, 1317357771.045375649]: Received 56418 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889853.950994368, 1317357771.045375649]: Data saved to 1317357770880894.pcd[0m
mapping pub time 2.728612 ms 
whole mapping time 102.496732 ms +++++
mappingCount 86 & avg mapping time 81.693141 ms ++++++++++++++++++++++
1317357770.880894899 WriteOdom aft_mapped_to_init
build tree time 8.771393 ms 
mapping data assosiation time 22.970627 ms 
points size 92328 
prepare time 15.475778 
sort q time 4.998026 
seperate points time 12.223713 
publication time 11.989184 ms 
whole laserOdometry time 14.513462 ms 
 
-----t: 0.0501988
OdomCount 88 & avg odom time 0.033197 ms ++++++++++++++++++++++
1317357771.089401960 WriteOdom laser_odom_to_init
1317357771.089401960 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.182872 ms 
mapping optimization time 106.311710 
add points time 0.646095 ms
mapping pub time 2.109580 ms 
whole mapping time 114.455529 ms +++++
mappingCount 87 & avg mapping time 82.069749 ms ++++++++++++++++++++++
1317357770.985147953 WriteOdom aft_mapped_to_init
map prepare time 2.280998 ms
map corner num 41475  surf num 15462 
build tree time 8.567689 ms 
--------------------stamp1317357771.193634033
mapping data assosiation time 22.573634 ms 
prepare time 16.028813 
sort q time 5.417950 
seperate points time 13.171451 
scan registration time 33.383019 ms *************
publication time 8.279826 ms 
whole laserOdometry time 8.293919 ms 
 
mapping data assosiation time 24.219839 ms 
mapping solver time 21.291775 ms 
mapping optimization time 105.079492 
add points time 0.564896 ms
filter time 3.060891 ms 
mapping pub time 2.174828 ms 
whole mapping time 113.210306 ms +++++
mappingCount 88 & avg mapping time 82.423653 ms ++++++++++++++++++++++
1317357771.089401960 WriteOdom aft_mapped_to_init
map prepare time 2.184465 ms
map corner num 41818  surf num 15593 
--------------------stamp1317357771.297842025
points size 92357 
sort q time 4.944515 
seperate points time 11.307539 
mapping data assosiation time 24.916174 ms 
scan registration time 29.150085 ms *************
publication time 8.504513 ms 
whole laserOdometry time 8.518170 ms 
 
-----t: 0.0358722
OdomCount 90 & avg odom time 0.033406 ms ++++++++++++++++++++++
1317357771.297842025 WriteOdom laser_odom_to_init
1317357771.297842025 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.248094 ms 
mapping solver time 14.139574 ms 
mapping optimization time 94.140997 
add points time 0.610588 ms
mapping pub time 2.263917 ms 
whole mapping time 103.433285 ms +++++
mappingCount 89 & avg mapping time 82.659746 ms ++++++++++++++++++++++
1317357771.193634033 WriteOdom aft_mapped_to_init
map prepare time 2.186248 ms
map corner num 42199  surf num 15720 
--------------------stamp1317357771.402050018
build tree time 10.907266 ms 
points size 92237 
prepare time 15.158002 
mapping data assosiation time 25.840174 ms 
sort q time 6.111948 
seperate points time 14.586218 
scan registration time 35.601468 ms *************
1317357771.402050018 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.353088 ms 
publication time 8.890040 ms 
whole laserOdometry time 8.904093 ms 
 
mapping data assosiation time 20.622467 ms 
mapping solver time 19.563365 ms 
filter time 3.887591 ms 
map prepare time 2.922328 ms
map corner num 42562  surf num 15864 
prepare time 14.117615 
build tree time 11.491963 ms 
sort q time 5.095440 
seperate points time 11.308167 
scan registration time 30.337398 ms *************
mapping data assosiation time 24.423759 ms 
publication time 9.759009 ms 
whole laserOdometry time 9.773299 ms 
 
-----t: 0.0416611
OdomCount 92 & avg odom time 0.033506 ms ++++++++++++++++++++++
1317357771.506253957 WriteOdom laser_odom_to_init
mapping solver time 27.149677 ms 
mapping data assosiation time 19.983339 ms 
--------------------stamp1317357771.610436916
mapping solver time 18.249506 ms 
points size 91819 
filter time 5.021783 ms 
map prepare time 3.029604 ms
map corner num 42963  surf num 16003 
sort q time 5.248412 
seperate points time 12.476157 
build tree time 11.759080 ms 
scan registration time 34.640705 ms *************
publication time 10.291997 ms 
whole laserOdometry time 10.307504 ms 
 
-----t: 0.0658718
OdomCount 93 & avg odom time 0.033854 ms ++++++++++++++++++++++
1317357771.610436916 WriteOdom laser_odom_to_init
1317357771.610436916 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357771.714620113
points size 91620 
sort q time 6.141063 
seperate points time 12.920664 
mapping solver time 26.330572 ms 
mapping optimization time 112.266942 
add points time 0.748520 ms
scan registration time 32.537974 ms *************
mapping pub time 2.288373 ms 
whole mapping time 123.042957 ms +++++
mappingCount 92 & avg mapping time 83.815065 ms ++++++++++++++++++++++
1317357771.506253958 WriteOdom aft_mapped_to_init
publication time 9.942120 ms 
whole laserOdometry time 9.954385 ms 
 
build tree time 11.575432 ms 
-----t: 0.0453417
OdomCount 94 & avg odom time 0.033976 ms ++++++++++++++++++++++
1317357771.714620113 WriteOdom laser_odom_to_init
mapping data assosiation time 23.174717 ms 
mapping solver time 20.658616 ms 
--------------------stamp1317357771.818825960
points size 91715 
prepare time 18.144817 
sort q time 5.279829 
seperate points time 12.473910 
scan registration time 35.712502 ms *************
mapping solver time 20.178987 ms 
mapping optimization time 105.096030 
add points time 0.818434 ms
1317357771.610436916 WriteOdom aft_mapped_to_init
publication time 10.935174 ms 
whole laserOdometry time 10.968883 ms 
 
build tree time 9.043924 ms 
mapping data assosiation time 19.750786 ms 
--------------------stamp1317357771.923011064
mapping solver time 21.620334 ms 
points size 91906 
mapping data assosiation time 26.071210 ms 
sort q time 5.934954 
seperate points time 13.798881 
mapping solver time 17.825994 ms 
mapping optimization time 95.711823 
add points time 0.780063 ms
publication time 8.271530 ms 
whole laserOdometry time 8.292091 ms 
 
-----t: 0.0407921
OdomCount 96 & avg odom time 0.034161 ms ++++++++++++++++++++++
1317357771.923011064 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.263284 ms
map corner num 44028  surf num 16437 
build tree time 8.888224 ms 
mapping data assosiation time 20.544609 ms 
--------------------stamp1317357772.027169942
mapping solver time 25.148297 ms 
points size 92730 
prepare time 16.153848 
sort q time 6.181561 
seperate points time 14.271881 
scan registration time 35.941219 ms *************
mapping solver time 11.118939 ms 
filter time 3.763258 ms 
mapping pub time 2.228129 ms 
whole mapping time 103.854093 ms +++++
mappingCount 95 & avg mapping time 84.589069 ms ++++++++++++++++++++++
1317357771.818825960 WriteOdom aft_mapped_to_init
-----t: 0.0424326
OdomCount 97 & avg odom time 0.034247 ms ++++++++++++++++++++++
1317357772.027169942 WriteOdom laser_odom_to_init
1317357772.027169942 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.275771 ms
map corner num 44378  surf num 16581 
build tree time 8.629893 ms 
mapping data assosiation time 18.173000 ms 
--------------------stamp1317357772.131328105
points size 94356 
mapping solver time 24.417995 ms 
prepare time 12.956575 
sort q time 5.163819 
seperate points time 10.398323 
scan registration time 28.652457 ms *************
mapping data assosiation time 24.903976 ms 
publication time 7.797102 ms 
whole laserOdometry time 7.812233 ms 
 
-----t: 0.0416553
OdomCount 98 & avg odom time 0.034322 ms ++++++++++++++++++++++
1317357772.131328105 WriteOdom laser_odom_to_init
mapping solver time 24.455124 ms 
mapping optimization time 101.871878 
add points time 0.655444 ms
1317357772.027169943 WriteOdom aft_mapped_to_init
map prepare time 2.025949 ms
map corner num 44819  surf num 16719 
build tree time 9.455718 ms 
--------------------stamp1317357772.235440015
points size 94730 
mapping solver time 25.826721 ms 
sort q time 5.089859 
seperate points time 11.809999 
scan registration time 31.564849 ms *************
publication time 8.973417 ms 
whole laserOdometry time 8.985538 ms 
 
mapping data assosiation time 23.329064 ms 
mapping solver time 19.893210 ms 
filter time 3.556667 ms 
mapping pub time 2.087824 ms 
whole mapping time 107.835513 ms +++++
mappingCount 97 & avg mapping time 85.105247 ms ++++++++++++++++++++++
1317357772.131328106 WriteOdom aft_mapped_to_init
map prepare time 2.008605 ms
map corner num 45186  surf num 16830 
build tree time 9.220014 ms 
--------------------stamp1317357772.339500904
mapping data assosiation time 22.245062 ms 
prepare time 13.247153 
sort q time 7.199647 
seperate points time 12.539996 
mapping solver time 28.429769 ms 
publication time 9.286722 ms 
whole laserOdometry time 9.307256 ms 
 
-----t: 0.042274
OdomCount 100 & avg odom time 0.034436 ms ++++++++++++++++++++++
mapping solver time 14.469366 ms 
mapping optimization time 97.108880 
add points time 0.694975 ms
mapping pub time 2.246821 ms 
whole mapping time 106.833459 ms +++++
mappingCount 98 & avg mapping time 85.327000 ms ++++++++++++++++++++++
1317357772.235440016 WriteOdom aft_mapped_to_init
build tree time 10.002539 ms 
--------------------stamp1317357772.443519115
points size 93567 
sort q time 5.165151 
seperate points time 11.932467 
scan registration time 34.894544 ms *************
mapping solver time 22.857417 ms 
publication time 9.531522 ms 
whole laserOdometry time 9.561954 ms 
 
mapping data assosiation time 21.926660 ms 
mapping solver time 13.019409 ms 
mapping optimization time 93.824934 
add points time 0.602260 ms
filter time 3.568506 ms 
mapping pub time 2.088234 ms 
whole mapping time 102.109914 ms +++++
mappingCount 99 & avg mapping time 85.496561 ms ++++++++++++++++++++++
1317357772.339500904 WriteOdom aft_mapped_to_init
map prepare time 2.190587 ms
map corner num 45883  surf num 17013 
build tree time 8.525473 ms 
--------------------stamp1317357772.547439098
points size 92732 
prepare time 13.204288 
sort q time 5.051856 
seperate points time 11.583653 
mapping solver time 18.432750 ms 
scan registration time 29.683893 ms *************
publication time 7.852872 ms 
whole laserOdometry time 7.877519 ms 
 
mapping data assosiation time 20.951035 ms 
mapping solver time 13.954462 ms 
mapping optimization time 81.863058 
add points time 0.637926 ms
mapping pub time 2.168128 ms 
whole mapping time 90.601037 ms +++++
mappingCount 100 & avg mapping time 85.547643 ms ++++++++++++++++++++++
1317357772.443519115 WriteOdom aft_mapped_to_init
map prepare time 1.934484 ms
map corner num 46187  surf num 17084 
build tree time 10.210598 ms 
mapping data assosiation time 17.822508 ms 
points size 92120 
prepare time 15.591157 
mapping solver time 23.078690 ms 
sort q time 5.524279 
seperate points time 16.668833 
scan registration time 37.451227 ms *************
-----t: 0.0301179
OdomCount 103 & avg odom time 0.034493 ms ++++++++++++++++++++++
publication time 5.524841 ms 
whole laserOdometry time 5.536680 ms 
 
mapping optimization time 87.470701 
add points time 0.585604 ms
filter time 3.281149 ms 
map prepare time 1.775960 ms
map corner num 46485  surf num 17154 
build tree time 10.371738 ms 
mapping data assosiation time 16.667296 ms 
--------------------stamp1317357772.755202054
points size 91305 
mapping solver time 21.393819 ms 
sort q time 5.954286 
seperate points time 13.647578 
scan registration time 34.418160 ms *************
mapping data assosiation time 21.395827 ms 
-----t: 0.035999
OdomCount 104 & avg odom time 0.034508 ms ++++++++++++++++++++++
1317357772.755202054 WriteOdom laser_odom_to_init
1317357772.755202054 WriteOdom aft_mapped_to_init_high_frec
publication time 7.082090 ms 
whole laserOdometry time 7.092309 ms 
 
mapping optimization time 85.071217 
add points time 0.575715 ms
filter time 3.404040 ms 
mapping pub time 2.072252 ms 
whole mapping time 92.948746 ms +++++
mappingCount 102 & avg mapping time 85.744205 ms ++++++++++++++++++++++
1317357772.651329994 WriteOdom aft_mapped_to_init
build tree time 10.188205 ms 
mapping data assosiation time 17.406167 ms 
--------------------stamp1317357772.859025001
mapping solver time 19.959273 ms 
points size 88902 
prepare time 16.157606 
sort q time 5.603599 
seperate points time 13.234161 
scan registration time 33.931487 ms *************
mapping solver time 15.100059 ms 
mapping optimization time 84.944307 
add points time 0.632892 ms
-----t: 0.0356153
OdomCount 105 & avg odom time 0.034518 ms ++++++++++++++++++++++
1317357772.859025001 WriteOdom laser_odom_to_init
1317357772.859025001 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 3.263031 ms 
whole mapping time 95.620403 ms +++++
mappingCount 103 & avg mapping time 85.840152 ms ++++++++++++++++++++++
publication time 10.466401 ms 
whole laserOdometry time 10.474796 ms 
 
1317357772.755202055 WriteOdom aft_mapped_to_init
build tree time 9.122433 ms 
mapping data assosiation time 15.670843 ms 
mapping solver time 15.308379 ms 
--------------------stamp1317357772.962822914
points size 86877 
mapping data assosiation time 21.146542 ms 
prepare time 17.276806 
sort q time 4.678964 
seperate points time 10.877428 
publication time 7.615917 ms 
whole laserOdometry time 7.630343 ms 
 
-----t: 0.0368505
OdomCount 106 & avg odom time 0.034540 ms ++++++++++++++++++++++
1317357772.962822914 WriteOdom laser_odom_to_init
1317357772.962822914 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.563333 ms 
mapping data assosiation time 14.661714 ms 
mapping solver time 18.005727 ms 
--------------------stamp1317357773.066574096
points size 84399 
sort q time 4.846683 
seperate points time 10.019324 
scan registration time 26.900976 ms *************
mapping solver time 19.108635 ms 
mapping optimization time 79.929016 
add points time 0.557389 ms
-----t: 0.0330871
OdomCount 107 & avg odom time 0.034527 ms ++++++++++++++++++++++
1317357773.066574096 WriteOdom laser_odom_to_init
1317357773.066574096 WriteOdom aft_mapped_to_init_high_frec
publication time 5.638475 ms 
whole laserOdometry time 5.653986 ms 
 
map prepare time 2.000926 ms
map corner num 47777  surf num 17393 
build tree time 9.130402 ms 
mapping data assosiation time 14.662668 ms 
mapping solver time 15.338590 ms 
--------------------stamp1317357773.170277118
points size 82554 
sort q time 4.198360 
seperate points time 9.793020 
mapping solver time 13.688264 ms 
mapping optimization time 70.970534 
mapping pub time 2.789343 ms 
whole mapping time 81.696391 ms +++++
mappingCount 106 & avg mapping time 85.844402 ms ++++++++++++++++++++++
1317357773.066574097 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889856.101227400, 1317357773.199293465]: Received 65531 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889856.101259907, 1317357773.199293465]: Data saved to 1317357773066574.pcd[0m
-----t: 0.030775
OdomCount 108 & avg odom time 0.034492 ms ++++++++++++++++++++++
1317357773.170277118 WriteOdom laser_odom_to_init
1317357773.170277118 WriteOdom aft_mapped_to_init_high_frec
build tree time 9.317296 ms 
mapping data assosiation time 14.542406 ms 
mapping solver time 14.696944 ms 
mapping data assosiation time 15.599149 ms 
points size 81384 
filter time 4.837397 ms 
mapping pub time 1.930254 ms 
whole mapping time 76.741774 ms +++++
mappingCount 107 & avg mapping time 85.759360 ms ++++++++++++++++++++++
1317357773.170277119 WriteOdom aft_mapped_to_init
scan registration time 28.783051 ms *************
-----t: 0.0278609
OdomCount 109 & avg odom time 0.034431 ms ++++++++++++++++++++++
1317357773.273956060 WriteOdom laser_odom_to_init
1317357773.273956060 WriteOdom aft_mapped_to_init_high_frec
publication time 5.865742 ms 
whole laserOdometry time 5.878428 ms 
 
map prepare time 1.946004 ms
map corner num 48390  surf num 17498 
mapping data assosiation time 14.849066 ms 
mapping solver time 17.602926 ms 
--------------------stamp1317357773.377633094
points size 80171 
sort q time 5.815128 
seperate points time 12.683504 
publication time 4.995901 ms 
whole laserOdometry time 5.022830 ms 
 
-----t: 0.0363072
OdomCount 110 & avg odom time 0.034448 ms ++++++++++++++++++++++
add points time 0.512993 ms
filter time 3.265257 ms 
mapping pub time 1.808944 ms 
whole mapping time 114.492057 ms +++++
mappingCount 108 & avg mapping time 86.025445 ms ++++++++++++++++++++++
1317357773.273956060 WriteOdom aft_mapped_to_init
build tree time 10.577331 ms 
mapping data assosiation time 16.595525 ms 
--------------------stamp1317357773.481311082
points size 78684 
prepare time 12.451410 
mapping data assosiation time 16.709767 ms 
sort q time 4.463184 
seperate points time 10.049100 
mapping solver time 14.108593 ms 
filter time 4.587821 ms 
mapping pub time 1.914850 ms 
whole mapping time 84.606523 ms +++++
mappingCount 109 & avg mapping time 86.012526 ms ++++++++++++++++++++++
1317357773.377633095 WriteOdom aft_mapped_to_init
-----t: 0.0270465
OdomCount 111 & avg odom time 0.034382 ms ++++++++++++++++++++++
1317357773.481311082 WriteOdom laser_odom_to_init
1317357773.481311082 WriteOdom aft_mapped_to_init_high_frec
publication time 6.960827 ms 
whole laserOdometry time 6.971589 ms 
 
build tree time 9.717246 ms 
mapping data assosiation time 14.592538 ms 
mapping solver time 13.780300 ms 
mapping data assosiation time 14.936039 ms 
mapping solver time 12.484358 ms 
points size 77733 
mapping pub time 1.808608 ms 
whole mapping time 74.450673 ms +++++
mappingCount 110 & avg mapping time 85.907484 ms ++++++++++++++++++++++
1317357773.481311083 WriteOdom aft_mapped_to_init
sort q time 4.042130 
seperate points time 9.488240 
scan registration time 25.401589 ms *************
publication time 5.735799 ms 
whole laserOdometry time 5.748891 ms 
 
-----t: 0.0246749
OdomCount 112 & avg odom time 0.034295 ms ++++++++++++++++++++++
1317357773.585012912 WriteOdom laser_odom_to_init
1317357773.585012912 WriteOdom aft_mapped_to_init_high_frec
build tree time 9.851727 ms 
mapping data assosiation time 14.663946 ms 
mapping solver time 13.550610 ms 
mapping data assosiation time 14.320067 ms 
--------------------stamp1317357773.688739061
mapping solver time 13.696162 ms 
points size 78178 
filter time 5.333508 ms 
sort q time 5.244234 
seperate points time 9.814141 
scan registration time 27.845925 ms *************
-----t: 0.0263014
OdomCount 113 & avg odom time 0.034224 ms ++++++++++++++++++++++
publication time 4.683811 ms 
whole laserOdometry time 4.694609 ms 
 
map prepare time 1.659119 ms
map corner num 49462  surf num 17673 
build tree time 11.083913 ms 
mapping data assosiation time 15.546666 ms 
mapping solver time 14.376173 ms 
--------------------stamp1317357773.792490959
points size 78545 
prepare time 13.840131 
filter time 3.764641 ms 
mapping pub time 1.774873 ms 
whole mapping time 76.374999 ms +++++
mappingCount 112 & avg mapping time 85.749018 ms ++++++++++++++++++++++
1317357773.688739061 WriteOdom aft_mapped_to_init
publication time 7.288768 ms 
whole laserOdometry time 7.301922 ms 
 
-----t: 0.0344762
OdomCount 114 & avg odom time 0.034226 ms ++++++++++++++++++++++
1317357773.792490959 WriteOdom aft_mapped_to_init_high_frec
1317357773.792490959 WriteOdom laser_odom_to_init
map prepare time 1.849852 ms
map corner num 49726  surf num 17719 
build tree time 11.670275 ms 
mapping data assosiation time 15.944750 ms 
mapping solver time 13.345649 ms 
--------------------stamp1317357773.896241903
mapping data assosiation time 18.763415 ms 
points size 79795 
prepare time 15.671685 
sort q time 4.294075 
seperate points time 10.020795 
scan registration time 29.719852 ms *************
mapping solver time 18.595393 ms 
mapping optimization time 79.102560 
add points time 0.473642 ms
mapping pub time 1.730323 ms 
whole mapping time 87.739698 ms +++++
mappingCount 113 & avg mapping time 85.766672 ms ++++++++++++++++++++++
publication time 6.241466 ms 
whole laserOdometry time 6.254806 ms 
 
-----t: 0.0356435
OdomCount 115 & avg odom time 0.034239 ms ++++++++++++++++++++++
1317357773.896241903 WriteOdom laser_odom_to_init
1317357773.896241903 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 12.708562 ms 
mapping solver time 13.383439 ms 
mapping data assosiation time 13.626608 ms 
points size 82141 
mapping solver time 12.082530 ms 
mapping optimization time 62.802834 
add points time 0.585420 ms
prepare time 12.010137 
1317357773.896241903 WriteOdom aft_mapped_to_init
sort q time 4.290403 
seperate points time 9.963066 
scan registration time 26.695470 ms *************
publication time 5.696949 ms 
whole laserOdometry time 5.721045 ms 
 
map prepare time 1.611616 ms
map corner num 50277  surf num 17862 
build tree time 11.243196 ms 
mapping data assosiation time 14.163725 ms 
mapping solver time 14.224482 ms 
mapping data assosiation time 14.395959 ms 
--------------------stamp1317357774.103625059
mapping solver time 12.324568 ms 
mapping optimization time 67.265068 
add points time 0.437566 ms
points size 83495 
filter time 3.616602 ms 
prepare time 12.146167 
mapping pub time 2.062248 ms 
whole mapping time 75.050390 ms +++++
mappingCount 115 & avg mapping time 85.551396 ms ++++++++++++++++++++++
1317357773.999944925 WriteOdom aft_mapped_to_init
sort q time 4.810060 
seperate points time 10.573785 
-----t: 0.0253633
OdomCount 117 & avg odom time 0.034094 ms ++++++++++++++++++++++
1317357774.103625059 WriteOdom laser_odom_to_init
1317357774.103625059 WriteOdom aft_mapped_to_init_high_frec
publication time 5.169229 ms 
whole laserOdometry time 5.181952 ms 
 
map prepare time 1.790324 ms
map corner num 50589  surf num 17944 
build tree time 10.580360 ms 
mapping data assosiation time 16.002871 ms 
mapping solver time 20.044445 ms 
--------------------stamp1317357774.207304000
mapping data assosiation time 19.560891 ms 
points size 83179 
prepare time 16.147289 
mapping solver time 14.735024 ms 
mapping optimization time 81.833544 
add points time 0.482392 ms
sort q time 4.458275 
seperate points time 10.329601 
mapping pub time 3.218169 ms 
whole mapping time 92.368038 ms +++++
mappingCount 116 & avg mapping time 85.610238 ms ++++++++++++++++++++++
1317357774.103625059 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889857.141981949, 1317357774.240554277]: Received 68996 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889857.142016737, 1317357774.240554277]: Data saved to 1317357774103625.pcd[0m
publication time 6.647142 ms 
whole laserOdometry time 6.657140 ms 
 
map prepare time 1.822964 ms
map corner num 50955  surf num 18041 
build tree time 9.929988 ms 
mapping data assosiation time 15.177124 ms 
mapping solver time 20.265418 ms 
--------------------stamp1317357774.311007976
points size 83092 
mapping data assosiation time 18.032629 ms 
prepare time 12.591637 
sort q time 4.876094 
seperate points time 22.794154 
mapping solver time 32.944910 ms 
filter time 4.623505 ms 
mapping pub time 1.873283 ms 
whole mapping time 106.097355 ms +++++
mappingCount 117 & avg mapping time 85.785386 ms ++++++++++++++++++++++
1317357774.207304001 WriteOdom aft_mapped_to_init
publication time 7.290944 ms 
whole laserOdometry time 7.301783 ms 
 
map prepare time 1.642390 ms
map corner num 51319  surf num 18127 
build tree time 10.957375 ms 
mapping data assosiation time 13.813227 ms 
--------------------stamp1317357774.414736032
points size 83306 
mapping data assosiation time 18.513530 ms 
sort q time 4.699996 
seperate points time 10.130338 
scan registration time 30.204717 ms *************
mapping solver time 17.955566 ms 
mapping optimization time 78.124520 
add points time 0.484967 ms
-----t: 0.0355709
OdomCount 120 & avg odom time 0.034021 ms ++++++++++++++++++++++
1317357774.414736032 WriteOdom laser_odom_to_init
1317357774.414736032 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.665509 ms
map corner num 51650  surf num 18195 
build tree time 11.936684 ms 
mapping data assosiation time 16.209054 ms 
mapping solver time 18.423382 ms 
points size 84252 
mapping data assosiation time 17.054088 ms 
sort q time 4.609197 
seperate points time 10.438851 
scan registration time 25.734336 ms *************
mapping solver time 16.184027 ms 
filter time 4.767445 ms 
mapping pub time 2.006118 ms 
whole mapping time 89.735132 ms +++++
mappingCount 119 & avg mapping time 85.835328 ms ++++++++++++++++++++++
1317357774.414736032 WriteOdom aft_mapped_to_init
-----t: 0.0408972
OdomCount 121 & avg odom time 0.034077 ms ++++++++++++++++++++++
1317357774.518460988 WriteOdom laser_odom_to_init
1317357774.518460988 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.445482 ms 
mapping data assosiation time 13.072066 ms 
mapping solver time 13.248047 ms 
--------------------stamp1317357774.622211933
mapping data assosiation time 14.579162 ms 
points size 85745 
prepare time 12.635570 
mapping solver time 11.547451 ms 
filter time 4.210542 ms 
-----t: 0.0232549
OdomCount 122 & avg odom time 0.033989 ms ++++++++++++++++++++++
map prepare time 1.607237 ms
map corner num 52218  surf num 18328 
build tree time 10.713971 ms 
mapping data assosiation time 13.930675 ms 
mapping solver time 13.605723 ms 
mapping data assosiation time 13.498112 ms 
--------------------stamp1317357774.725963115
mapping solver time 11.509790 ms 
mapping optimization time 64.176592 
add points time 0.457895 ms
[0m[ INFO] [1718889857.637716332, 1317357774.734922744]: Received 70922 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889857.637756825, 1317357774.734922744]: Data saved to 1317357774622211.pcd[0m
mapping pub time 4.885562 ms 
whole mapping time 74.825419 ms +++++
mappingCount 121 & avg mapping time 85.634304 ms ++++++++++++++++++++++
1317357774.622211933 WriteOdom aft_mapped_to_init
prepare time 15.381434 
sort q time 5.485344 
seperate points time 10.072909 
scan registration time 29.302091 ms *************
-----t: 0.0246901
OdomCount 123 & avg odom time 0.033913 ms ++++++++++++++++++++++
1317357774.725963115 WriteOdom laser_odom_to_init
1317357774.725963115 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.771518 ms
map corner num 52520  surf num 18402 
build tree time 10.613995 ms 
mapping data assosiation time 14.341124 ms 
mapping solver time 14.230617 ms 
--------------------stamp1317357774.829714059
points size 88570 
prepare time 13.751748 
mapping solver time 11.785203 ms 
mapping optimization time 68.498100 
add points time 0.526151 ms
mapping pub time 2.047228 ms 
whole mapping time 77.958603 ms +++++
mappingCount 122 & avg mapping time 85.571425 ms ++++++++++++++++++++++
1317357774.725963116 WriteOdom aft_mapped_to_init
sort q time 5.178650 
seperate points time 11.281010 
-----t: 0.0294438
OdomCount 124 & avg odom time 0.033877 ms ++++++++++++++++++++++
1317357774.829714059 WriteOdom laser_odom_to_init
1317357774.829714059 WriteOdom aft_mapped_to_init_high_frec
publication time 8.508084 ms 
whole laserOdometry time 8.562434 ms 
 
map prepare time 1.662583 ms
map corner num 52823  surf num 18463 
build tree time 9.493663 ms 
mapping data assosiation time 13.552453 ms 
mapping solver time 17.781953 ms 
--------------------stamp1317357774.933489084
mapping data assosiation time 14.864237 ms 
points size 90097 
mapping solver time 16.748338 ms 
filter time 4.176524 ms 
sort q time 5.195689 
seperate points time 11.824627 
mapping pub time 2.092163 ms 
whole mapping time 81.719916 ms +++++
mappingCount 123 & avg mapping time 85.540167 ms ++++++++++++++++++++++
scan registration time 32.511736 ms *************
publication time 5.799486 ms 
whole laserOdometry time 5.811116 ms 
 
-----t: 0.0401274
OdomCount 125 & avg odom time 0.033927 ms ++++++++++++++++++++++
map prepare time 2.810537 ms
map corner num 53148  surf num 18537 
build tree time 12.252452 ms 
mapping data assosiation time 14.808125 ms 
--------------------stamp1317357775.037261962
points size 90760 
sort q time 5.020861 
seperate points time 11.400386 
mapping data assosiation time 16.971057 ms 
-----t: 0.0275865
OdomCount 126 & avg odom time 0.033877 ms ++++++++++++++++++++++
filter time 4.645744 ms 
mapping pub time 2.070820 ms 
whole mapping time 85.299043 ms +++++
mappingCount 124 & avg mapping time 85.538253 ms ++++++++++++++++++++++
1317357774.933489084 WriteOdom aft_mapped_to_init
build tree time 10.488262 ms 
mapping data assosiation time 14.755192 ms 
mapping solver time 17.767824 ms 
--------------------stamp1317357775.141060113
mapping data assosiation time 16.421914 ms 
prepare time 11.552919 
mapping solver time 12.391531 ms 
mapping optimization time 72.754396 
add points time 0.477824 ms
sort q time 5.365542 
seperate points time 11.578142 
publication time 6.971423 ms 
whole laserOdometry time 6.987907 ms 
 
-----t: 0.0273533
OdomCount 127 & avg odom time 0.033825 ms ++++++++++++++++++++++
1317357775.141060113 WriteOdom laser_odom_to_init
1317357775.141060113 WriteOdom aft_mapped_to_init_high_frec
build tree time 13.149386 ms 
mapping data assosiation time 17.276395 ms 
mapping solver time 14.421413 ms 
--------------------stamp1317357775.244883060
mapping data assosiation time 18.038684 ms 
points size 91249 
mapping solver time 15.783462 ms 
mapping optimization time 79.568854 
add points time 0.500894 ms
sort q time 4.958762 
seperate points time 11.135835 
[0m[ INFO] [1718889858.176211939, 1317357775.273675538]: Received 72984 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889858.176244738, 1317357775.273675538]: Data saved to 1317357775141060.pcd[0m
publication time 7.775795 ms 
whole laserOdometry time 7.789224 ms 
 
-----t: 0.0378633
OdomCount 128 & avg odom time 0.033857 ms ++++++++++++++++++++++
map prepare time 1.834237 ms
map corner num 54147  surf num 18837 
build tree time 12.457417 ms 
mapping data assosiation time 17.920903 ms 
--------------------stamp1317357775.348706960
mapping solver time 16.849877 ms 
points size 91127 
prepare time 15.617159 
sort q time 5.283422 
seperate points time 12.001279 
mapping solver time 13.085031 ms 
filter time 4.583933 ms 
mapping pub time 2.306421 ms 
whole mapping time 90.121928 ms +++++
mappingCount 127 & avg mapping time 85.592379 ms ++++++++++++++++++++++
1317357775.244883060 WriteOdom aft_mapped_to_init
publication time 7.511275 ms 
whole laserOdometry time 7.519196 ms 
 
1317357775.348706960 WriteOdom laser_odom_to_init
1317357775.348706960 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.314807 ms
map corner num 54538  surf num 18939 
build tree time 11.695643 ms 
mapping data assosiation time 17.104917 ms 
mapping solver time 15.764979 ms 
points size 91596 
prepare time 11.226106 
sort q time 4.938208 
seperate points time 11.243502 
scan registration time 26.708941 ms *************
filter time 5.292625 ms 
mapping pub time 2.074014 ms 
whole mapping time 89.629795 ms +++++
mappingCount 128 & avg mapping time 85.623968 ms ++++++++++++++++++++++
1317357775.348706961 WriteOdom aft_mapped_to_init
-----t: 0.0325784
OdomCount 130 & avg odom time 0.033873 ms ++++++++++++++++++++++
1317357775.452555894 WriteOdom laser_odom_to_init
1317357775.452555894 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.455138 ms
map corner num 54947  surf num 19065 
build tree time 10.820917 ms 
mapping data assosiation time 15.721860 ms 
mapping solver time 15.310348 ms 
--------------------stamp1317357775.556399106
points size 92384 
mapping solver time 14.139053 ms 
mapping optimization time 75.531933 
sort q time 4.919034 
seperate points time 11.366190 
add points time 0.535225 ms
mapping pub time 2.413028 ms 
whole mapping time 86.782016 ms +++++
mappingCount 129 & avg mapping time 85.632987 ms ++++++++++++++++++++++
1317357775.452555895 WriteOdom aft_mapped_to_init
-----t: 0.0307445
OdomCount 131 & avg odom time 0.033850 ms ++++++++++++++++++++++
1317357775.556399106 WriteOdom laser_odom_to_init
1317357775.556399106 WriteOdom aft_mapped_to_init_high_frec
publication time 6.838163 ms 
whole laserOdometry time 6.850627 ms 
 
build tree time 10.163305 ms 
mapping data assosiation time 16.211322 ms 
mapping solver time 15.216825 ms 
--------------------stamp1317357775.660221099
points size 92071 
mapping data assosiation time 18.139999 ms 
prepare time 12.466671 
sort q time 5.145236 
seperate points time 11.690503 
mapping solver time 14.967548 ms 
mapping optimization time 75.706374 
add points time 0.606875 ms
scan registration time 29.331767 ms *************
mapping pub time 2.276075 ms 
whole mapping time 86.212076 ms +++++
mappingCount 130 & avg mapping time 85.637472 ms ++++++++++++++++++++++
-----t: 0.028251
OdomCount 132 & avg odom time 0.033807 ms ++++++++++++++++++++++
1317357775.660221099 WriteOdom laser_odom_to_init
1317357775.660221099 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.276944 ms
map corner num 55963  surf num 19480 
build tree time 11.145928 ms 
mapping data assosiation time 17.761069 ms 
mapping solver time 16.887548 ms 
--------------------stamp1317357775.764066934
points size 91699 
prepare time 13.104943 
sort q time 4.661305 
seperate points time 9.757466 
mapping solver time 16.517679 ms 
filter time 5.508375 ms 
mapping pub time 3.022721 ms 
whole mapping time 97.470307 ms +++++
mappingCount 131 & avg mapping time 85.727829 ms ++++++++++++++++++++++
1317357775.660221100 WriteOdom aft_mapped_to_init
publication time 8.385655 ms 
whole laserOdometry time 8.404347 ms 
 
-----t: 0.0458744
OdomCount 133 & avg odom time 0.033898 ms ++++++++++++++++++++++
map prepare time 2.395073 ms
map corner num 56517  surf num 19714 
mapping data assosiation time 19.407729 ms 
points size 91599 
mapping solver time 23.064939 ms 
sort q time 5.953947 
seperate points time 11.434754 
publication time 8.157020 ms 
whole laserOdometry time 8.168793 ms 
 
mapping data assosiation time 22.620559 ms 
mapping solver time 17.524029 ms 
mapping optimization time 96.906513 
add points time 0.612484 ms
map prepare time 1.986754 ms
map corner num 57021  surf num 19961 
build tree time 11.133001 ms 
--------------------stamp1317357775.971812009
points size 90706 
prepare time 14.215687 
sort q time 5.037595 
seperate points time 11.752463 
scan registration time 31.529851 ms *************
mapping solver time 29.771341 ms 
publication time 7.040163 ms 
whole laserOdometry time 7.055824 ms 
 
mapping data assosiation time 21.179382 ms 
mapping solver time 18.438036 ms 
filter time 4.200152 ms 
mapping pub time 2.327199 ms 
whole mapping time 111.356917 ms +++++
mappingCount 133 & avg mapping time 86.073544 ms ++++++++++++++++++++++
1317357775.867938042 WriteOdom aft_mapped_to_init
map prepare time 2.400422 ms
map corner num 57604  surf num 20203 
build tree time 11.578800 ms 
--------------------stamp1317357776.075683116
points size 87335 
prepare time 10.636139 
mapping data assosiation time 25.096443 ms 
sort q time 5.499769 
seperate points time 10.587993 
scan registration time 25.174189 ms *************
mapping solver time 23.228192 ms 
-----t: 0.0301867
OdomCount 136 & avg odom time 0.033941 ms ++++++++++++++++++++++
mapping data assosiation time 20.120147 ms 
mapping solver time 13.513813 ms 
mapping optimization time 94.561047 
add points time 0.692672 ms
mapping pub time 2.099069 ms 
whole mapping time 104.429320 ms +++++
mappingCount 134 & avg mapping time 86.210545 ms ++++++++++++++++++++++
1317357775.971812010 WriteOdom aft_mapped_to_init
map prepare time 2.224104 ms
map corner num 58117  surf num 20413 
build tree time 12.725117 ms 
points size 84998 
prepare time 13.098942 
sort q time 4.687860 
seperate points time 11.259958 
scan registration time 29.170113 ms *************
mapping solver time 22.214754 ms 
-----t: 0.031565
OdomCount 137 & avg odom time 0.033923 ms ++++++++++++++++++++++
publication time 10.173443 ms 
whole laserOdometry time 10.182561 ms 
 
mapping data assosiation time 20.681871 ms 
mapping solver time 13.397406 ms 
filter time 4.214491 ms 
mapping pub time 2.045437 ms 
whole mapping time 101.983503 ms +++++
mappingCount 135 & avg mapping time 86.327418 ms ++++++++++++++++++++++
1317357776.075683117 WriteOdom aft_mapped_to_init
build tree time 12.585656 ms 
points size 83511 
prepare time 12.044145 
mapping data assosiation time 20.850804 ms 
sort q time 4.575923 
seperate points time 10.631598 
mapping solver time 22.444395 ms 
-----t: 0.0294797
OdomCount 138 & avg odom time 0.033891 ms ++++++++++++++++++++++
1317357776.283446073 WriteOdom laser_odom_to_init
1317357776.283446073 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.404482 ms 
mapping solver time 13.205291 ms 
filter time 4.226218 ms 
mapping pub time 3.062769 ms 
whole mapping time 100.598657 ms +++++
mappingCount 136 & avg mapping time 86.432374 ms ++++++++++++++++++++++
1317357776.179550886 WriteOdom aft_mapped_to_init
map prepare time 2.021797 ms
map corner num 59002  surf num 20754 
build tree time 12.783392 ms 
points size 81929 
prepare time 8.694159 
mapping data assosiation time 20.790735 ms 
sort q time 4.466412 
seperate points time 10.205022 
mapping data assosiation time 23.698525 ms 
-----t: 0.0565418
OdomCount 139 & avg odom time 0.034054 ms ++++++++++++++++++++++
1317357776.387341022 WriteOdom laser_odom_to_init
1317357776.387341022 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.977483 ms 
mapping optimization time 109.812714 
add points time 0.630047 ms
points size 80703 
prepare time 11.053320 
mapping data assosiation time 21.569968 ms 
-----t: 0.051115
OdomCount 140 & avg odom time 0.034176 ms ++++++++++++++++++++++
1317357776.491235017 WriteOdom laser_odom_to_init
1317357776.491235017 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.250517 ms 
mapping data assosiation time 18.196121 ms 
--------------------stamp1317357776.595177888
points size 80930 
mapping solver time 18.566198 ms 
prepare time 10.289569 
mapping optimization time 111.240640 
add points time 0.890982 ms
mapping pub time 1.795688 ms 
whole mapping time 122.422052 ms +++++
mappingCount 138 & avg mapping time 86.927519 ms ++++++++++++++++++++++
1317357776.387341022 WriteOdom aft_mapped_to_init
sort q time 4.095055 
seperate points time 9.758128 
map prepare time 2.321837 ms
map corner num 59829  surf num 21094 
build tree time 13.043800 ms 
publication time 11.283207 ms 
whole laserOdometry time 11.294023 ms 
 
-----t: 0.031443
OdomCount 141 & avg odom time 0.034157 ms ++++++++++++++++++++++
1317357776.595177888 WriteOdom laser_odom_to_init
1317357776.595177888 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.854387 ms 
mapping solver time 20.379894 ms 
mapping data assosiation time 17.901581 ms 
points size 81046 
add points time 0.771139 ms
filter time 4.863013 ms 
sort q time 4.810940 
seperate points time 10.722878 
1317357776.491235018 WriteOdom aft_mapped_to_init
map prepare time 2.598643 ms
map corner num 60266  surf num 21212 
scan registration time 25.848928 ms *************
publication time 6.990883 ms 
whole laserOdometry time 7.018427 ms 
 
-----t: 0.0255218
OdomCount 142 & avg odom time 0.034096 ms ++++++++++++++++++++++
1317357776.699121952 WriteOdom laser_odom_to_init
1317357776.699121952 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.476916 ms 
mapping data assosiation time 16.488876 ms 
--------------------stamp1317357776.803040027
points size 80468 
prepare time 9.253359 
mapping solver time 18.622593 ms 
mapping optimization time 89.949852 
add points time 0.825495 ms
scan registration time 22.476839 ms *************
publication time 7.322346 ms 
whole laserOdometry time 7.342343 ms 
 
build tree time 17.673690 ms 
-----t: 0.0429214
OdomCount 143 & avg odom time 0.034157 ms ++++++++++++++++++++++
1317357776.803040027 WriteOdom laser_odom_to_init
1317357776.803040027 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.109786 ms 
mapping solver time 17.901396 ms 
mapping data assosiation time 18.916482 ms 
--------------------stamp1317357776.906960010
points size 80724 
filter time 4.183925 ms 
sort q time 5.072903 
seperate points time 10.309913 
mapping pub time 5.611756 ms 
whole mapping time 104.840458 ms +++++
mappingCount 141 & avg mapping time 87.277333 ms ++++++++++++++++++++++
publication time 6.680323 ms 
whole laserOdometry time 6.695505 ms 
 
build tree time 16.658931 ms 
mapping data assosiation time 16.863524 ms 
mapping solver time 19.135349 ms 
mapping data assosiation time 17.753231 ms 
--------------------stamp1317357777.010853052
points size 83256 
prepare time 10.906539 
mapping solver time 18.052041 ms 
mapping optimization time 89.442539 
add points time 0.652771 ms
sort q time 5.036791 
seperate points time 11.391294 
build tree time 14.078519 ms 
publication time 8.885766 ms 
whole laserOdometry time 8.901953 ms 
 
mapping data assosiation time 18.162215 ms 
mapping solver time 23.483928 ms 
mapping data assosiation time 15.858050 ms 
--------------------stamp1317357777.114747047
points size 84880 
prepare time 12.302898 
mapping solver time 20.197549 ms 
scan registration time 27.541247 ms *************
build tree time 14.902143 ms 
publication time 7.789314 ms 
whole laserOdometry time 8.071087 ms 
 
mapping data assosiation time 15.911328 ms 
mapping solver time 15.916516 ms 
mapping data assosiation time 15.529139 ms 
mapping solver time 11.499584 ms 
filter time 5.240489 ms 
points size 84314 
scan registration time 22.777488 ms *************
build tree time 15.974682 ms 
publication time 6.752889 ms 
whole laserOdometry time 6.767859 ms 
 
mapping data assosiation time 17.791296 ms 
mapping solver time 15.201078 ms 
mapping data assosiation time 15.455643 ms 
mapping solver time 12.292046 ms 
filter time 5.166334 ms 
mapping pub time 1.981657 ms 
whole mapping time 87.374790 ms +++++
mappingCount 145 & avg mapping time 87.454221 ms ++++++++++++++++++++++
1317357777.114747047 WriteOdom aft_mapped_to_init
--------------------stamp1317357777.322609901
points size 85736 
build tree time 16.448661 ms 
prepare time 13.119643 
sort q time 5.261558 
seperate points time 10.153431 
mapping data assosiation time 18.996864 ms 
-----t: 0.0263984
OdomCount 148 & avg odom time 0.034005 ms ++++++++++++++++++++++
1317357777.322609901 WriteOdom laser_odom_to_init
1317357777.322609901 WriteOdom aft_mapped_to_init_high_frec
publication time 6.791688 ms 
whole laserOdometry time 6.808293 ms 
 
mapping solver time 22.809818 ms 
mapping data assosiation time 14.487456 ms 
mapping solver time 11.284384 ms 
mapping optimization time 84.941182 
add points time 0.632135 ms
mapping pub time 2.734705 ms 
whole mapping time 95.186351 ms +++++
mappingCount 146 & avg mapping time 87.507244 ms ++++++++++++++++++++++
1317357777.218667984 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889860.309171807, 1317357777.405996713]: Received 84738 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889860.309211865, 1317357777.405996713]: Data saved to 1317357777218667.pcd[0m
map prepare time 2.292012 ms
map corner num 62774  surf num 21964 
--------------------stamp1317357777.426552057
points size 87705 
prepare time 12.822787 
mapping data assosiation time 18.283492 ms 
sort q time 4.815974 
seperate points time 11.079346 
scan registration time 28.151015 ms *************
mapping solver time 17.949262 ms 
1317357777.426552057 WriteOdom laser_odom_to_init
1317357777.426552057 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.835511 ms 
mapping solver time 11.937465 ms 
filter time 5.112888 ms 
mapping pub time 2.035493 ms 
whole mapping time 91.880250 ms +++++
mappingCount 147 & avg mapping time 87.537101 ms ++++++++++++++++++++++
1317357777.322609901 WriteOdom aft_mapped_to_init
build tree time 12.529357 ms 
--------------------stamp1317357777.530471086
points size 87706 
sort q time 5.452010 
seperate points time 10.238020 
mapping solver time 18.953179 ms 
publication time 6.305237 ms 
whole laserOdometry time 6.319221 ms 
 
-----t: 0.0408332
OdomCount 150 & avg odom time 0.034009 ms ++++++++++++++++++++++
filter time 3.991174 ms 
mapping pub time 1.948571 ms 
whole mapping time 90.553772 ms +++++
mappingCount 148 & avg mapping time 87.557513 ms ++++++++++++++++++++++
1317357777.426552057 WriteOdom aft_mapped_to_init
build tree time 12.507715 ms 
--------------------stamp1317357777.634365081
points size 88865 
prepare time 9.547151 
sort q time 5.339875 
seperate points time 11.163984 
scan registration time 24.878637 ms *************
mapping data assosiation time 19.505708 ms 
publication time 10.291645 ms 
whole laserOdometry time 10.306150 ms 
 
1317357777.634365081 WriteOdom laser_odom_to_init
1317357777.634365081 WriteOdom aft_mapped_to_init_high_frec
filter time 4.018854 ms 
mapping pub time 2.017727 ms 
whole mapping time 95.627215 ms +++++
mappingCount 149 & avg mapping time 87.611689 ms ++++++++++++++++++++++
1317357777.530471087 WriteOdom aft_mapped_to_init
build tree time 12.600403 ms 
mapping data assosiation time 16.330174 ms 
--------------------stamp1317357777.738261938
mapping solver time 17.086412 ms 
sort q time 5.005216 
seperate points time 11.082163 
scan registration time 24.485092 ms *************
mapping data assosiation time 17.332656 ms 
-----t: 0.0222353
OdomCount 152 & avg odom time 0.033922 ms ++++++++++++++++++++++
1317357777.738261938 WriteOdom laser_odom_to_init
1317357777.738261938 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.492541 ms 
mapping optimization time 77.858109 
add points time 0.510212 ms
publication time 5.989540 ms 
whole laserOdometry time 6.005861 ms 
 
filter time 5.102404 ms 
mapping pub time 2.075353 ms 
whole mapping time 87.576373 ms +++++
mappingCount 150 & avg mapping time 87.611483 ms ++++++++++++++++++++++
1317357777.634365082 WriteOdom aft_mapped_to_init
build tree time 12.759312 ms 
mapping data assosiation time 17.661659 ms 
mapping solver time 21.897376 ms 
points size 92345 
prepare time 9.868000 
sort q time 5.123731 
seperate points time 10.174583 
mapping data assosiation time 21.518234 ms 
scan registration time 24.856087 ms *************
mapping solver time 15.307752 ms 
mapping optimization time 90.704670 
add points time 0.544732 ms
publication time 8.841620 ms 
whole laserOdometry time 8.858598 ms 
 
filter time 6.035135 ms 
-----t: 0.0232423
OdomCount 153 & avg odom time 0.033853 ms ++++++++++++++++++++++
1317357777.842186927 WriteOdom laser_odom_to_init
map prepare time 1.886307 ms
map corner num 64665  surf num 22545 
build tree time 14.047442 ms 
mapping data assosiation time 16.875369 ms 
mapping solver time 19.972982 ms 
points size 91895 
mapping data assosiation time 21.751141 ms 
sort q time 5.474729 
seperate points time 11.237294 
scan registration time 28.450392 ms *************
mapping solver time 19.251447 ms 
publication time 7.346557 ms 
whole laserOdometry time 7.361607 ms 
 
filter time 6.124075 ms 
mapping pub time 2.007516 ms 
whole mapping time 103.939344 ms +++++
mappingCount 152 & avg mapping time 87.820533 ms ++++++++++++++++++++++
1317357777.842186928 WriteOdom aft_mapped_to_init
-----t: 0.055324
OdomCount 154 & avg odom time 0.033992 ms ++++++++++++++++++++++
1317357777.946079969 WriteOdom laser_odom_to_init
1317357777.946079969 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.063995 ms
map corner num 65077  surf num 22683 
build tree time 15.212348 ms 
--------------------stamp1317357778.049945116
mapping data assosiation time 18.918126 ms 
points size 90581 
prepare time 12.813828 
sort q time 4.894951 
seperate points time 9.897658 
scan registration time 26.606510 ms *************
mapping solver time 24.193695 ms 
publication time 7.785210 ms 
whole laserOdometry time 7.793110 ms 
 
mapping data assosiation time 21.816948 ms 
mapping solver time 17.634198 ms 
mapping optimization time 98.727694 
add points time 0.532394 ms
mapping pub time 2.067374 ms 
whole mapping time 107.917329 ms +++++
mappingCount 153 & avg mapping time 87.951907 ms ++++++++++++++++++++++
1317357777.946079969 WriteOdom aft_mapped_to_init
map prepare time 2.026929 ms
map corner num 65551  surf num 22876 
build tree time 13.071500 ms 
--------------------stamp1317357778.153790950
points size 91104 
prepare time 9.925561 
sort q time 5.200400 
seperate points time 11.190025 
scan registration time 26.765220 ms *************
mapping solver time 19.189599 ms 
publication time 12.692467 ms 
whole laserOdometry time 12.707417 ms 
 
mapping data assosiation time 21.274731 ms 
mapping solver time 12.669875 ms 
mapping optimization time 86.818432 
add points time 0.685676 ms
mapping pub time 1.950852 ms 
whole mapping time 97.532667 ms +++++
mappingCount 154 & avg mapping time 88.014136 ms ++++++++++++++++++++++
1317357778.049945116 WriteOdom aft_mapped_to_init
map prepare time 1.907436 ms
map corner num 66000  surf num 23054 
build tree time 13.961844 ms 
--------------------stamp1317357778.257637977
points size 91648 
mapping data assosiation time 22.823922 ms 
scan registration time 26.167254 ms *************
mapping solver time 20.254771 ms 
publication time 8.461655 ms 
whole laserOdometry time 8.478068 ms 
 
-----t: 0.028975
OdomCount 157 & avg odom time 0.033998 ms ++++++++++++++++++++++
mapping data assosiation time 19.776047 ms 
mapping solver time 12.742585 ms 
filter time 5.004216 ms 
mapping pub time 2.454114 ms 
whole mapping time 100.476131 ms +++++
mappingCount 155 & avg mapping time 88.094558 ms ++++++++++++++++++++++
1317357778.153790951 WriteOdom aft_mapped_to_init
build tree time 14.167810 ms 
--------------------stamp1317357778.361509084
points size 92362 
mapping data assosiation time 18.613613 ms 
prepare time 13.607928 
sort q time 4.973711 
seperate points time 11.742583 
-----t: 0.027711
OdomCount 158 & avg odom time 0.033958 ms ++++++++++++++++++++++
publication time 7.958193 ms 
whole laserOdometry time 7.971621 ms 
 
mapping data assosiation time 20.409914 ms 
mapping solver time 13.526171 ms 
filter time 5.249752 ms 
mapping pub time 3.152003 ms 
whole mapping time 98.912827 ms +++++
mappingCount 156 & avg mapping time 88.163938 ms ++++++++++++++++++++++
1317357778.257637978 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889861.334874909, 1317357778.431601714]: Received 90328 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889861.334916692, 1317357778.431601714]: Data saved to 1317357778257637.pcd[0m
build tree time 15.050897 ms 
--------------------stamp1317357778.465378999
points size 92980 
sort q time 5.859737 
seperate points time 12.163725 
scan registration time 30.277437 ms *************
mapping solver time 25.693991 ms 
-----t: 0.0333609
OdomCount 159 & avg odom time 0.033955 ms ++++++++++++++++++++++
mapping data assosiation time 20.611699 ms 
mapping solver time 17.198823 ms 
mapping optimization time 103.080031 
add points time 0.607178 ms
map prepare time 2.161481 ms
map corner num 67416  surf num 23639 
build tree time 15.147166 ms 
points size 93896 
prepare time 12.269121 
sort q time 5.381378 
seperate points time 11.928767 
scan registration time 29.636071 ms *************
publication time 9.219113 ms 
whole laserOdometry time 9.244918 ms 
 
-----t: 0.0338022
OdomCount 160 & avg odom time 0.033954 ms ++++++++++++++++++++++
1317357778.569228887 WriteOdom laser_odom_to_init
1317357778.569228887 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.371482 ms 
mapping solver time 17.258036 ms 
filter time 5.453965 ms 
mapping pub time 2.188419 ms 
whole mapping time 112.183583 ms +++++
mappingCount 158 & avg mapping time 88.473370 ms ++++++++++++++++++++++
1317357778.465379000 WriteOdom aft_mapped_to_init
points size 92426 
prepare time 11.437333 
sort q time 5.879463 
seperate points time 11.966064 
publication time 8.910394 ms 
whole laserOdometry time 8.929420 ms 
 
-----t: 0.0299346
OdomCount 161 & avg odom time 0.033929 ms ++++++++++++++++++++++
1317357778.673074960 WriteOdom laser_odom_to_init
1317357778.673074960 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.200320 ms 
mapping data assosiation time 20.207967 ms 
mapping solver time 17.496627 ms 
--------------------stamp1317357778.776943922
map prepare time 2.369987 ms
map corner num 68355  surf num 24019 
points size 91539 
prepare time 10.183631 
sort q time 5.327877 
seperate points time 11.137344 
build tree time 14.993021 ms 
scan registration time 26.331878 ms *************
-----t: 0.0257728
OdomCount 162 & avg odom time 0.033878 ms ++++++++++++++++++++++
mapping solver time 24.960564 ms 
mapping data assosiation time 19.312746 ms 
--------------------stamp1317357778.880790948
filter time 4.877413 ms 
prepare time 14.243668 
sort q time 4.812169 
seperate points time 11.325026 
build tree time 17.075424 ms 
publication time 7.374634 ms 
whole laserOdometry time 7.388347 ms 
 
mapping data assosiation time 20.981279 ms 
-----t: 0.0493588
OdomCount 163 & avg odom time 0.033973 ms ++++++++++++++++++++++
mapping solver time 23.740315 ms 
mapping data assosiation time 19.908371 ms 
--------------------stamp1317357778.984637022
mapping solver time 15.805835 ms 
filter time 5.853308 ms 
[0m[ INFO] [1718889861.904158009, 1317357778.997840433]: Received 93788 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889861.904199529, 1317357778.997840433]: Data saved to 1317357778776943.pcd[0m
sort q time 5.373645 
seperate points time 11.942187 
scan registration time 28.515054 ms *************
mapping pub time 19.946233 ms 
whole mapping time 127.670003 ms +++++
mappingCount 161 & avg mapping time 88.982613 ms ++++++++++++++++++++++
1317357778.776943922 WriteOdom aft_mapped_to_init
map prepare time 2.387544 ms
map corner num 69358  surf num 24430 
1317357778.984637022 WriteOdom aft_mapped_to_init_high_frec
publication time 26.706173 ms 
whole laserOdometry time 26.717000 ms 
 
build tree time 34.264968 ms 
mapping data assosiation time 17.916075 ms 
--------------------stamp1317357779.088510036
points size 89558 
mapping solver time 23.524111 ms 
sort q time 5.299504 
seperate points time 10.245717 
scan registration time 24.085473 ms *************
mapping data assosiation time 21.997879 ms 
publication time 9.289724 ms 
whole laserOdometry time 9.304749 ms 
 
-----t: 0.0435087
OdomCount 165 & avg odom time 0.034078 ms ++++++++++++++++++++++
1317357779.088510036 WriteOdom laser_odom_to_init
1317357779.088510036 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.774254 ms 
filter time 5.493447 ms 
mapping pub time 2.665774 ms 
whole mapping time 132.743596 ms +++++
mappingCount 162 & avg mapping time 89.252778 ms ++++++++++++++++++++++
1317357778.880790949 WriteOdom aft_mapped_to_init
build tree time 13.627995 ms 
--------------------stamp1317357779.192404985
points size 90252 
prepare time 9.724356 
sort q time 5.319863 
seperate points time 10.874188 
mapping solver time 19.823345 ms 
scan registration time 24.892043 ms *************
mapping data assosiation time 21.534090 ms 
mapping solver time 14.697321 ms 
mapping optimization time 91.141846 
add points time 0.674158 ms
map prepare time 1.939380 ms
map corner num 70194  surf num 24761 
build tree time 13.087357 ms 
mapping data assosiation time 16.392990 ms 
points size 90428 
mapping solver time 21.567171 ms 
scan registration time 25.597863 ms *************
-----t: 0.0274555
OdomCount 167 & avg odom time 0.034038 ms ++++++++++++++++++++++
mapping solver time 17.404147 ms 
mapping optimization time 91.032082 
add points time 0.616367 ms
mapping pub time 2.026464 ms 
whole mapping time 100.740720 ms +++++
mappingCount 164 & avg mapping time 89.399182 ms ++++++++++++++++++++++
1317357779.192404985 WriteOdom aft_mapped_to_init
build tree time 14.142097 ms 
--------------------stamp1317357779.400243043
prepare time 11.569781 
mapping solver time 18.141932 ms 
sort q time 5.504202 
seperate points time 11.333183 
mapping data assosiation time 19.450782 ms 
mapping solver time 13.384987 ms 
mapping optimization time 83.042587 
add points time 0.561772 ms
filter time 4.673549 ms 
map prepare time 1.983732 ms
map corner num 71230  surf num 25174 
build tree time 13.882523 ms 
mapping data assosiation time 15.511663 ms 
--------------------stamp1317357779.504158973
points size 90749 
mapping data assosiation time 19.235645 ms 
mapping solver time 13.585911 ms 
-----t: 0.0246954
OdomCount 169 & avg odom time 0.033944 ms ++++++++++++++++++++++
mapping optimization time 80.293833 
1317357779.504158973 WriteOdom laser_odom_to_init
1317357779.504158973 WriteOdom aft_mapped_to_init_high_frec
add points time 0.643456 ms
mapping pub time 3.922076 ms 
whole mapping time 93.627724 ms +++++
mappingCount 166 & avg mapping time 89.442605 ms ++++++++++++++++++++++
build tree time 18.138151 ms 
mapping data assosiation time 15.289964 ms 
--------------------stamp1317357779.608078002
points size 91262 
mapping data assosiation time 18.460999 ms 
sort q time 5.223171 
seperate points time 11.983951 
mapping solver time 14.936846 ms 
publication time 9.304168 ms 
filter time 6.169426 ms 
whole laserOdometry time 9.328557 ms 
 
mapping pub time 2.203699 ms 
whole mapping time 100.114573 ms +++++
mappingCount 167 & avg mapping time 89.506550 ms ++++++++++++++++++++++
1317357779.504158974 WriteOdom aft_mapped_to_init
map prepare time 1.996360 ms
map corner num 72042  surf num 25405 
build tree time 15.176674 ms 
mapping data assosiation time 15.695253 ms 
mapping solver time 15.269885 ms 
points size 92713 
prepare time 12.320096 
sort q time 5.265862 
seperate points time 12.158701 
add points time 0.682056 ms
filter time 6.501701 ms 
mapping pub time 2.069283 ms 
whole mapping time 90.571159 ms +++++
mappingCount 168 & avg mapping time 89.512906 ms ++++++++++++++++++++++
1317357779.608078003 WriteOdom aft_mapped_to_init
publication time 11.483514 ms 
whole laserOdometry time 11.493251 ms 
 
-----t: 0.0321859
OdomCount 171 & avg odom time 0.033893 ms ++++++++++++++++++++++
1317357779.711996078 WriteOdom laser_odom_to_init
1317357779.711996078 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.190965 ms
map corner num 72444  surf num 25506 
build tree time 16.219115 ms 
mapping data assosiation time 16.264224 ms 
mapping solver time 16.272699 ms 
--------------------stamp1317357779.815890073
points size 94876 
mapping data assosiation time 21.835200 ms 
sort q time 5.470901 
seperate points time 12.825965 
scan registration time 31.218216 ms *************
mapping solver time 21.362384 ms 
mapping optimization time 93.595961 
add points time 0.609819 ms
1317357779.711996078 WriteOdom aft_mapped_to_init
-----t: 0.0294854
OdomCount 172 & avg odom time 0.033868 ms ++++++++++++++++++++++
1317357779.815890073 WriteOdom laser_odom_to_init
1317357779.815890073 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.386173 ms
map corner num 72863  surf num 25623 
build tree time 14.141989 ms 
mapping data assosiation time 15.184052 ms 
--------------------stamp1317357779.919786930
mapping solver time 22.268729 ms 
prepare time 13.155207 
sort q time 5.878403 
seperate points time 11.389087 
mapping solver time 20.470720 ms 
publication time 8.666847 ms 
whole laserOdometry time 8.685893 ms 
 
filter time 7.126435 ms 
-----t: 0.0565674
OdomCount 173 & avg odom time 0.033999 ms ++++++++++++++++++++++
map prepare time 2.041942 ms
map corner num 73249  surf num 25756 
build tree time 15.538767 ms 
--------------------stamp1317357780.023680925
points size 95917 
mapping data assosiation time 18.033722 ms 
prepare time 12.591840 
sort q time 5.159743 
seperate points time 11.816434 
scan registration time 30.244031 ms *************
mapping solver time 21.951260 ms 
-----t: 0.0288052
OdomCount 174 & avg odom time 0.033969 ms ++++++++++++++++++++++
publication time 10.221023 ms 
whole laserOdometry time 10.236993 ms 
 
mapping solver time 19.857962 ms 
filter time 5.312474 ms 
mapping pub time 6.943569 ms 
whole mapping time 111.950777 ms +++++
mappingCount 171 & avg mapping time 89.828167 ms ++++++++++++++++++++++
1317357779.919786930 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889863.011271766, 1317357780.107533528]: Received 99529 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889863.011307895, 1317357780.107533528]: Data saved to 1317357779919786.pcd[0m
--------------------stamp1317357780.127527952
build tree time 17.798707 ms 
prepare time 15.603133 
mapping data assosiation time 21.302480 ms 
sort q time 6.206116 
seperate points time 14.105614 
publication time 7.682761 ms 
whole laserOdometry time 7.691563 ms 
 
mapping solver time 23.908642 ms 
mapping data assosiation time 23.587789 ms 

1317357780.127527952 WriteOdom aft_mapped_to_init_high_frec
filter time 5.187575 ms 
map prepare time 2.433663 ms
map corner num 74038  surf num 26039 
points size 95991 
prepare time 13.095920 
build tree time 15.477877 ms 
sort q time 18.806379 
seperate points time 25.635868 
-----t: 0.0328748
OdomCount 176 & avg odom time 0.034149 ms ++++++++++++++++++++++
1317357780.231328010 WriteOdom laser_odom_to_init
1317357780.231328010 WriteOdom aft_mapped_to_init_high_frec
publication time 7.360319 ms 
whole laserOdometry time 7.374704 ms 
 
mapping solver time 22.390993 ms 
mapping data assosiation time 17.142705 ms 
mapping solver time 11.384671 ms 
filter time 5.617184 ms 
map prepare time 3.879644 ms
map corner num 74458  surf num 26164 
build tree time 20.329728 ms 
scan registration time 40.429411 ms *************
publication time 6.048902 ms 
whole laserOdometry time 6.059384 ms 
 
mapping data assosiation time 15.621547 ms 
mapping solver time 16.700208 ms 
filter time 7.302845 ms 
mapping pub time 2.365905 ms 
whole mapping time 103.967766 ms +++++
mappingCount 174 & avg mapping time 90.136627 ms ++++++++++++++++++++++
1317357780.231328011 WriteOdom aft_mapped_to_init
prepare time 14.306743 
sort q time 5.448404 
seperate points time 12.290991 
-----t: 0.0259979
OdomCount 178 & avg odom time 0.034073 ms ++++++++++++++++++++++
publication time 5.673371 ms 
whole laserOdometry time 5.690969 ms 
 
mapping data assosiation time 26.121888 ms 
mapping solver time 14.453769 ms 
mapping data assosiation time 15.479782 ms 
mapping solver time 11.130310 ms 
--------------------stamp1317357780.542627096
mapping pub time 2.304311 ms 
whole mapping time 101.130746 ms +++++
mappingCount 175 & avg mapping time 90.199477 ms ++++++++++++++++++++++
points size 95636 
map prepare time 2.818699 ms
map corner num 72297  surf num 24904 
prepare time 13.439422 
sort q time 5.410676 
seperate points time 12.181408 
build tree time 18.816163 ms 
scan registration time 32.120493 ms *************
publication time 8.072069 ms 
whole laserOdometry time 8.088369 ms 
 
mapping data assosiation time 19.160781 ms 
-----t: 0.0405952
OdomCount 179 & avg odom time 0.034109 ms ++++++++++++++++++++++
mapping solver time 18.841340 ms 
mapping data assosiation time 15.193746 ms 
mapping solver time 10.070579 ms 
--------------------stamp1317357780.646378040
map prepare time 3.185388 ms
map corner num 72688  surf num 25023 
prepare time 14.340184 
build tree time 19.236335 ms 
sort q time 5.476101 
seperate points time 12.462984 
mapping data assosiation time 18.472605 ms 
publication time 8.756147 ms 
whole laserOdometry time 8.772514 ms 
 
-----t: 0.0527103
OdomCount 180 & avg odom time 0.034212 ms ++++++++++++++++++++++
1317357780.646378040 WriteOdom laser_odom_to_init
1317357780.646378040 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 10.716248 ms 
filter time 5.283340 ms 
mapping pub time 2.178305 ms 
whole mapping time 92.594002 ms +++++
mappingCount 177 & avg mapping time 90.252752 ms ++++++++++++++++++++++
1317357780.542627096 WriteOdom aft_mapped_to_init
--------------------stamp1317357780.750152111
points size 94331 
prepare time 12.727125 
build tree time 20.070163 ms 
sort q time 6.101279 
seperate points time 13.738697 
scan registration time 33.787867 ms *************
mapping data assosiation time 19.001262 ms 
-----t: 0.0296824
OdomCount 181 & avg odom time 0.034187 ms ++++++++++++++++++++++
mapping solver time 18.003215 ms 
mapping data assosiation time 15.051890 ms 
mapping solver time 14.391421 ms 
filter time 5.301500 ms 
mapping pub time 2.305971 ms 
whole mapping time 98.057002 ms +++++
mappingCount 178 & avg mapping time 90.296619 ms ++++++++++++++++++++++
1317357780.646378040 WriteOdom aft_mapped_to_init
--------------------stamp1317357780.853926897
points size 94363 
prepare time 11.015193 
build tree time 17.618115 ms 
sort q time 5.904226 
seperate points time 11.398088 
mapping data assosiation time 20.272029 ms 
publication time 8.100670 ms 
whole laserOdometry time 8.113427 ms 
 
mapping solver time 22.809000 ms 
-----t: 0.0500552
OdomCount 182 & avg odom time 0.034275 ms ++++++++++++++++++++++
1317357780.853926897 WriteOdom laser_odom_to_init
1317357780.853926897 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.283459 ms 
mapping optimization time 96.405992 
add points time 0.567538 ms
mapping pub time 2.083211 ms 
whole mapping time 106.378382 ms +++++
mappingCount 179 & avg mapping time 90.386482 ms ++++++++++++++++++++++
map prepare time 2.432539 ms
map corner num 73885  surf num 25628 
points size 94037 
build tree time 18.806418 ms 
sort q time 5.186922 
seperate points time 12.082919 
mapping data assosiation time 19.937655 ms 
publication time 8.440490 ms 
whole laserOdometry time 8.455099 ms 
 
mapping solver time 17.808493 ms 
mapping data assosiation time 17.443976 ms 
mapping solver time 15.133736 ms 
filter time 5.144122 ms 
mapping pub time 2.348171 ms 
whole mapping time 100.823978 ms +++++
mappingCount 180 & avg mapping time 90.444555 ms ++++++++++++++++++++++
1317357780.853926897 WriteOdom aft_mapped_to_init
points size 94392 
prepare time 11.527218 
build tree time 17.921373 ms 
sort q time 5.618243 
seperate points time 12.297825 
mapping data assosiation time 20.269355 ms 
mapping solver time 23.928691 ms 
-----t: 0.0558141
OdomCount 184 & avg odom time 0.034346 ms ++++++++++++++++++++++
1317357781.061526060 WriteOdom aft_mapped_to_init_high_frec
1317357781.061526060 WriteOdom laser_odom_to_init
mapping solver time 16.312985 ms 
filter time 6.393906 ms 
mapping pub time 9.784680 ms 
whole mapping time 116.807517 ms +++++
mappingCount 181 & avg mapping time 90.590230 ms ++++++++++++++++++++++
sort q time 5.133275 
seperate points time 10.662245 
scan registration time 28.813471 ms *************
publication time 8.001074 ms 
whole laserOdometry time 8.012112 ms 
 
-----t: 0.0448657
OdomCount 185 & avg odom time 0.034403 ms ++++++++++++++++++++++
1317357781.165297985 WriteOdom laser_odom_to_init
1317357781.165297985 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.439426 ms 
mapping data assosiation time 17.456510 ms 
mapping solver time 13.237684 ms 
--------------------stamp1317357781.269072055
map prepare time 2.337094 ms
map corner num 75066  surf num 26049 
points size 95103 
build tree time 16.721339 ms 
scan registration time 34.040029 ms *************
mapping data assosiation time 21.179100 ms 
publication time 12.761424 ms 
whole laserOdometry time 12.776645 ms 
 
mapping solver time 22.657884 ms 
mapping data assosiation time 16.645808 ms 
mapping solver time 12.370529 ms 
filter time 5.770484 ms 
mapping pub time 2.193911 ms 
whole mapping time 101.658391 ms +++++
mappingCount 183 & avg mapping time 90.683914 ms ++++++++++++++++++++++
1317357781.165297985 WriteOdom aft_mapped_to_init
prepare time 12.808815 
sort q time 5.417311 
seperate points time 12.541226 
build tree time 18.404540 ms 
scan registration time 30.028139 ms *************
publication time 7.429963 ms 
whole laserOdometry time 7.441931 ms 
 
-----t: 0.036106
OdomCount 187 & avg odom time 0.034390 ms ++++++++++++++++++++++
1317357781.372848987 WriteOdom laser_odom_to_init
1317357781.372848987 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.825845 ms 
mapping data assosiation time 16.340998 ms 
mapping solver time 12.104470 ms 
filter time 4.916704 ms 
--------------------stamp1317357781.476600885
points size 95586 
build tree time 18.915195 ms 
sort q time 5.557546 
seperate points time 12.110076 
mapping data assosiation time 20.884565 ms 
publication time 9.368010 ms 
whole laserOdometry time 9.382789 ms 
 
-----t: 0.0352037
OdomCount 188 & avg odom time 0.034394 ms ++++++++++++++++++++++
1317357781.476600885 WriteOdom laser_odom_to_init
1317357781.476600885 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.624054 ms 
mapping data assosiation time 16.072355 ms 
mapping solver time 16.269046 ms 
filter time 5.438438 ms 
map prepare time 2.264390 ms
map corner num 76168  surf num 26425 
sort q time 6.181004 
seperate points time 11.823390 
publication time 6.048683 ms 
whole laserOdometry time 6.060872 ms 
 
-----t: 0.0310124
OdomCount 189 & avg odom time 0.034376 ms ++++++++++++++++++++++
1317357781.580327033 WriteOdom laser_odom_to_init
1317357781.580327033 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.814891 ms 
mapping data assosiation time 15.238982 ms 
mapping solver time 11.990790 ms 
mapping optimization time 87.339566 
add points time 0.689296 ms
--------------------stamp1317357781.684029102
points size 96109 
build tree time 18.632464 ms 
sort q time 5.282761 
seperate points time 10.526466 
scan registration time 28.803312 ms *************
mapping data assosiation time 17.013860 ms 
-----t: 0.0343086
OdomCount 190 & avg odom time 0.034376 ms ++++++++++++++++++++++
mapping solver time 22.123213 ms 
mapping data assosiation time 14.497086 ms 
mapping solver time 17.076666 ms 
filter time 6.048390 ms 
map prepare time 2.376629 ms
map corner num 76879  surf num 26632 
prepare time 12.413194 
sort q time 6.302503 
seperate points time 11.607767 
build tree time 17.877373 ms 
scan registration time 29.255446 ms *************
publication time 7.876442 ms 
whole laserOdometry time 7.888499 ms 
 
mapping data assosiation time 25.628308 ms 
-----t: 0.054396
OdomCount 191 & avg odom time 0.034481 ms ++++++++++++++++++++++
mapping solver time 26.363062 ms 
1317357781.787755966 WriteOdom laser_odom_to_init
1317357781.787755966 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 14.720738 ms 
mapping solver time 10.379622 ms 
mapping optimization time 96.129835 
add points time 1.229852 ms
--------------------stamp1317357781.891530990
mapping pub time 2.239811 ms 
whole mapping time 109.707725 ms +++++
mappingCount 188 & avg mapping time 90.986125 ms ++++++++++++++++++++++
1317357781.684029102 WriteOdom aft_mapped_to_init
prepare time 11.910045 
map prepare time 2.640427 ms
map corner num 77196  surf num 26729 
sort q time 5.175211 
seperate points time 11.313616 
build tree time 21.819467 ms 
mapping data assosiation time 16.129792 ms 
publication time 21.432205 ms 
whole laserOdometry time 21.449871 ms 
 
mapping solver time 16.826776 ms 
mapping data assosiation time 16.545884 ms 
-----t: 0.0697872
OdomCount 192 & avg odom time 0.034664 ms ++++++++++++++++++++++
1317357781.891530990 WriteOdom laser_odom_to_init
1317357781.891530990 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 84.326180 
filter time 6.204575 ms 
map prepare time 2.154193 ms
map corner num 77537  surf num 26822 
sort q time 4.801426 
seperate points time 9.901962 
scan registration time 27.723778 ms *************
build tree time 19.988398 ms 
publication time 5.754799 ms 
whole laserOdometry time 5.811683 ms 
 
mapping data assosiation time 16.728089 ms 
-----t: 0.0500135
OdomCount 193 & avg odom time 0.034744 ms ++++++++++++++++++++++
1317357781.995304107 WriteOdom laser_odom_to_init
1317357781.995304107 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.267103 ms 
mapping data assosiation time 14.293367 ms 
mapping solver time 10.050281 ms 
mapping optimization time 83.211638 
add points time 0.540076 ms
mapping pub time 2.214914 ms 
whole mapping time 93.332676 ms +++++
mappingCount 190 & avg mapping time 91.026032 ms ++++++++++++++++++++++
points size 96756 
build tree time 18.603883 ms 
sort q time 5.251667 
seperate points time 11.803875 
mapping data assosiation time 16.685953 ms 
-----t: 0.030963
OdomCount 194 & avg odom time 0.034724 ms ++++++++++++++++++++++
1317357782.099103927 WriteOdom laser_odom_to_init
1317357782.099103927 WriteOdom aft_mapped_to_init_high_frec
publication time 7.547373 ms mapping data assosiation time 14.929220 ms 
mapping solver time 10.355006 ms 
mapping optimization time 77.886191 
add points time 0.632822 ms
mapping pub time 3.527794 ms 
whole mapping time 90.741798 ms +++++
mappingCount 191 & avg mapping time 91.024565 ms ++++++++++++++++++++++
1317357781.995304108 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718889865.091945306, 1317357782.188277517]: Received 105386 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889865.091984320, 1317357782.188277517]: Data saved to 1317357781995304.pcd[0m
map prepare time 2.109111 ms
map corner num 78324  surf num 27062 
--------------------stamp1317357782.202903985
build tree time 17.374189 ms 
points size 97190 
mapping data assosiation time 16.782081 ms 
sort q time 5.480016 
seperate points time 12.664900 
scan registration time 33.842854 ms *************
publication time 7.001011 ms 
whole laserOdometry time 7.014000 ms 
 
mapping solver time 21.187190 ms 
-----t: 0.0570451
OdomCount 195 & avg odom time 0.034839 ms ++++++++++++++++++++++
mapping solver time 15.687143 ms 
filter time 5.462065 ms 
mapping pub time 2.163912 ms 
whole mapping time 98.270732 ms +++++
mappingCount 192 & avg mapping time 91.062328 ms ++++++++++++++++++++++
1317357782.099103928 WriteOdom aft_mapped_to_init
--------------------stamp1317357782.306704044
points size 97604 
mapping data assosiation time 18.318920 ms 
sort q time 4.950901 
seperate points time 22.720515 
scan registration time 38.357315 ms *************
publication time 7.285031 ms 
whole laserOdometry time 7.299002 ms 
 
mapping data assosiation time 17.520077 ms 
-----t: 0.0532608
OdomCount 196 & avg odom time 0.034933 ms ++++++++++++++++++++++
1317357782.306704044 WriteOdom laser_odom_to_init
1317357782.306704044 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.384999 ms 
mapping optimization time 88.093957 
filter time 5.519206 ms 
mapping pub time 2.252564 ms 
whole mapping time 98.687635 ms +++++
mappingCount 193 & avg mapping time 91.101859 ms ++++++++++++++++++++++
1317357782.202903986 WriteOdom aft_mapped_to_init
map prepare time 2.293042 ms
map corner num 79169  surf num 27525 
--------------------stamp1317357782.410526990
build tree time 17.724002 ms 
publication time 6.857270 ms 
whole laserOdometry time 6.869258 ms 
 
mapping solver time 22.611912 ms 
-----t: 0.0470556
OdomCount 197 & avg odom time 0.034994 ms ++++++++++++++++++++++
1317357782.410526990 WriteOdom laser_odom_to_init
1317357782.410526990 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.699222 ms 
mapping solver time 15.352401 ms 
mapping optimization time 92.861884 
add points time 0.598535 ms
map prepare time 2.096519 ms
map corner num 79609  surf num 27648 
--------------------stamp1317357782.514348983
points size 98497 
prepare time 10.636916 
build tree time 20.356197 ms 
sort q time 5.295755 
seperate points time 11.545577 
mapping data assosiation time 18.127340 ms 
-----t: 0.0298036
OdomCount 198 & avg odom time 0.034968 ms ++++++++++++++++++++++
1317357782.514348983 WriteOdom laser_odom_to_init
1317357782.514348983 WriteOdom aft_mapped_to_init_high_frec
publication time 7.476774 ms 
whole laserOdometry time 7.484585 ms 
 
mapping data assosiation time 14.748297 ms 
mapping solver time 14.293513 ms 
filter time 5.352418 ms 
mapping pub time 2.143762 ms 
whole mapping time 101.851765 ms +++++
mappingCount 195 & avg mapping time 91.219863 ms ++++++++++++++++++++++
1317357782.410526991 WriteOdom aft_mapped_to_init
--------------------stamp1317357782.618171930
points size 99055 
sort q time 5.647479 
seperate points time 11.825642 
scan registration time 28.409376 ms *************
publication time 7.338534 ms 
whole laserOdometry time 7.363648 ms 
 
-----t: 0.0293341
OdomCount 199 & avg odom time 0.034940 ms ++++++++++++++++++++++
1317357782.618171930 WriteOdom laser_odom_to_init
1317357782.618171930 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.627039 ms 
mapping data assosiation time 15.066988 ms 
mapping solver time 16.077667 ms 
mapping optimization time 92.819247 
add points time 0.648979 ms
mapping pub time 3.434625 ms 
whole mapping time 106.293914 ms +++++
mappingCount 196 & avg mapping time 91.296789 ms ++++++++++++++++++++++
--------------------stamp1317357782.721992969
points size 100000 
prepare time 12.184796 
build tree time 18.462411 ms 
sort q time 5.342004 
seperate points time 11.664925 
publication time 11.476819 ms 
whole laserOdometry time 11.488047 ms 
 
-----t: 0.0351403
OdomCount 200 & avg odom time 0.034941 ms ++++++++++++++++++++++
mapping data assosiation time 15.014628 ms 
mapping solver time 15.029429 ms 
filter time 5.295719 ms 
mapping pub time 2.352073 ms 
whole mapping time 98.411060 ms +++++
mappingCount 197 & avg mapping time 91.332988 ms ++++++++++++++++++++++
1317357782.618171930 WriteOdom aft_mapped_to_init
--------------------stamp1317357782.825815916
points size 100715 
prepare time 12.094921 
sort q time 6.573627 
seperate points time 12.687892 
scan registration time 30.498264 ms *************
publication time 6.099989 ms 
whole laserOdometry time 6.114456 ms 
 
mapping solver time 19.410379 ms 
-----t: 0.0422949
OdomCount 201 & avg odom time 0.034977 ms ++++++++++++++++++++++
mapping data assosiation time 16.575055 ms 
mapping solver time 11.599745 ms 
filter time 5.141854 ms 
mapping pub time 2.354191 ms 
whole mapping time 96.913822 ms +++++
mappingCount 198 & avg mapping time 91.361191 ms ++++++++++++++++++++++
1317357782.721992970 WriteOdom aft_mapped_to_init
--------------------stamp1317357782.929615020
points size 101376 
build tree time 22.210395 ms 
prepare time 12.610044 
sort q time 5.849309 
seperate points time 11.767493 
mapping solver time 19.217995 ms 
-----t: 0.0389892
OdomCount 202 & avg odom time 0.034997 ms ++++++++++++++++++++++
mapping data assosiation time 16.961862 ms 
mapping solver time 12.354063 ms 
mapping optimization time 90.168053 
add points time 0.579165 ms
filter time 5.228371 ms 
map prepare time 2.125815 ms
map corner num 81522  surf num 28195 
--------------------stamp1317357783.033412933
build tree time 18.617640 ms 
points size 101320 
sort q time 5.574450 
seperate points time 12.469045 
mapping data assosiation time 20.016088 ms 
scan registration time 30.868697 ms *************
mapping solver time 19.430823 ms 
publication time 6.598519 ms 
whole laserOdometry time 6.612812 ms 
 
-----t: 0.0363225
OdomCount 203 & avg odom time 0.035004 ms ++++++++++++++++++++++
1317357783.033412933 WriteOdom laser_odom_to_init
1317357783.033412933 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.124243 ms 
mapping solver time 15.085589 ms 
mapping optimization time 92.203234 
add points time 0.628872 ms
mapping pub time 2.294590 ms 
whole mapping time 103.201792 ms +++++
mappingCount 200 & avg mapping time 91.466770 ms ++++++++++++++++++++++
1317357782.929615021 WriteOdom aft_mapped_to_init
--------------------stamp1317357783.137208938
points size 100799 
sort q time 5.601730 
seperate points time 12.714240 
mapping solver time 21.045175 ms 
mapping data assosiation time 16.765323 ms 
mapping solver time 16.530827 ms 
mapping optimization time 93.741983 
-----t: 0.0672021
OdomCount 204 & avg odom time 0.035162 ms ++++++++++++++++++++++
add points time 0.615259 ms
1317357783.137208938 WriteOdom laser_odom_to_init
1317357783.137208938 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889866.131509554, 1317357783.229506350]: Received 110917 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889866.131542489, 1317357783.229506350]: Data saved to 1317357783033412.pcd[0m
map prepare time 2.290737 ms
map corner num 82454  surf num 28463 
points size 100272 
prepare time 10.609135 
build tree time 20.591959 ms 
sort q time 5.937523 
seperate points time 11.488000 
mapping data assosiation time 17.687477 ms 
mapping solver time 17.008006 ms 
publication time 16.641637 ms 
whole laserOdometry time 16.666558 ms 
 
-----t: 0.048538
OdomCount 205 & avg odom time 0.035227 ms ++++++++++++++++++++++
1317357783.240984916 WriteOdom laser_odom_to_init
1317357783.240984916 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.931171 ms 
mapping solver time 18.030208 ms 
mapping optimization time 94.240529 
add points time 1.005726 ms
mapping pub time 3.068316 ms 
whole mapping time 108.894105 ms +++++
mappingCount 202 & avg mapping time 91.636251 ms ++++++++++++++++++++++
1317357783.137208939 WriteOdom aft_mapped_to_init
--------------------stamp1317357783.344784975
points size 99571 
build tree time 17.979550 ms 
sort q time 5.986493 
seperate points time 13.308926 
mapping data assosiation time 20.468012 ms 
-----t: 0.0337965
OdomCount 206 & avg odom time 0.035220 ms ++++++++++++++++++++++
1317357783.344784975 WriteOdom laser_odom_to_init
mapping solver time 22.415991 ms 
mapping solver time 12.906939 ms 
filter time 5.767057 ms 
map prepare time 2.230900 ms
map corner num 83262  surf num 28675 
sort q time 5.652751 
seperate points time 11.045565 
scan registration time 28.343202 ms *************
publication time 8.404701 ms 
whole laserOdometry time 8.434359 ms 
 
mapping solver time 21.608475 ms 
mapping data assosiation time 17.201519 ms 
--------------------stamp1317357783.552406072
points size 93555 
prepare time 11.405486 
filter time 6.532859 ms 
map prepare time 2.678741 ms
map corner num 83713  surf num 28888 
sort q time 5.543160 
seperate points time 12.841523 
build tree time 19.023853 ms 
-----t: 0.0294114
OdomCount 208 & avg odom time 0.035184 ms ++++++++++++++++++++++
publication time 7.892586 ms 
whole laserOdometry time 7.906434 ms 
 
mapping data assosiation time 19.638801 ms 
mapping solver time 22.377233 ms 
mapping data assosiation time 18.288418 ms 
points size 90873 
mapping solver time 23.780047 ms 
mapping optimization time 104.231214 
add points time 0.605162 ms
filter time 7.761576 ms 
map prepare time 2.940995 ms
map corner num 84308  surf num 29206 
1317357783.656204938 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.417242 ms 
mapping data assosiation time 17.379065 ms 
mapping solver time 20.121721 ms 
--------------------stamp1317357783.760004997
points size 88576 
sort q time 4.487790 
seperate points time 10.158408 
scan registration time 25.863483 ms *************
filter time 7.603088 ms 
mapping pub time 4.294038 ms 
whole mapping time 111.254519 ms +++++
mappingCount 206 & avg mapping time 92.013345 ms ++++++++++++++++++++++
-----t: 0.0256655
OdomCount 210 & avg odom time 0.035114 ms ++++++++++++++++++++++
build tree time 18.985778 ms 
mapping data assosiation time 19.345562 ms 
--------------------stamp1317357783.863779067
mapping solver time 22.359505 ms 
sort q time 5.160175 
seperate points time 9.748558 
mapping data assosiation time 20.639180 ms 
publication time 7.717845 ms 
whole laserOdometry time 7.727619 ms 
 
build tree time 16.652449 ms 
mapping data assosiation time 17.250381 ms 
--------------------stamp1317357783.967555999
points size 84052 
sort q time 4.088090 
seperate points time 11.454740 
scan registration time 26.794341 ms *************
mapping data assosiation time 20.790582 ms 
publication time 6.084229 ms 
whole laserOdometry time 6.096362 ms 
 
mapping solver time 20.634526 ms 
mapping optimization time 98.670504 
add points time 0.596090 ms
-----t: 0.0639587
OdomCount 212 & avg odom time 0.035241 ms ++++++++++++++++++++++
1317357783.967555999 WriteOdom laser_odom_to_init
1317357783.967555999 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357784.071332931
build tree time 21.140584 ms 
points size 83088 
sort q time 5.537623 
seperate points time 12.409641 
-----t: 0.0255095
OdomCount 213 & avg odom time 0.035196 ms ++++++++++++++++++++++
mapping solver time 25.282941 ms 
mapping data assosiation time 19.575256 ms 
mapping solver time 20.469709 ms 
filter time 5.868346 ms 
map prepare time 2.703498 ms
map corner num 86453  surf num 30195 
points size 81544 
sort q time 4.618146 
seperate points time 10.606379 
build tree time 23.324298 ms 
-----t: 0.0261665
OdomCount 214 & avg odom time 0.035153 ms ++++++++++++++++++++++
1317357784.175105094 WriteOdom laser_odom_to_init
1317357784.175105094 WriteOdom aft_mapped_to_init_high_frec
publication time 6.675592 ms 
whole laserOdometry time 6.690343 ms 
 
mapping data assosiation time 23.437768 ms 
mapping solver time 27.897914 ms 
--------------------stamp1317357784.278902053
points size 81174 
mapping solver time 19.262243 ms 
sort q time 4.608064 
seperate points time 10.571532 
filter time 8.284368 ms 
scan registration time 26.239045 ms *************
mapping pub time 2.078425 ms 
whole mapping time 126.841953 ms +++++
mappingCount 210 & avg mapping time 92.515567 ms ++++++++++++++++++++++
1317357784.071332932 WriteOdom aft_mapped_to_init
build tree time 25.126037 ms 
mapping data assosiation time 16.356896 ms 
mapping solver time 17.307271 ms 
--------------------stamp1317357784.382725000
points size 81361 
prepare time 10.903582 
mapping solver time 16.682628 ms 
mapping optimization time 91.096494 
add points time 0.539880 ms
sort q time 4.292935 
seperate points time 10.124158 
1317357784.175105095 WriteOdom aft_mapped_to_init
publication time 6.172439 ms 
whole laserOdometry time 6.188489 ms 
 
build tree time 19.056484 ms 
mapping data assosiation time 15.803773 ms 
mapping solver time 19.643527 ms 
--------------------stamp1317357784.486524105
points size 81905 
prepare time 9.086642 
scan registration time 22.174504 ms *************
mapping solver time 21.761261 ms 
mapping optimization time 94.774517 
add points time 0.648762 ms
-----t: 0.0378942
OdomCount 217 & avg odom time 0.035104 ms ++++++++++++++++++++++
build tree time 22.553946 ms 
mapping data assosiation time 13.699890 ms 
mapping solver time 19.125015 ms 
--------------------stamp1317357784.590323925
points size 82832 
mapping data assosiation time 17.404015 ms 
sort q time 4.375016 
seperate points time 9.676143 
scan registration time 29.738045 ms *************
mapping solver time 25.282907 ms 
filter time 9.956490 ms 
publication time 12.269673 ms 
whole laserOdometry time 12.288280 ms 
 
mapping pub time 2.290318 ms 
whole mapping time 114.381723 ms +++++
mappingCount 213 & avg mapping time 92.751842 ms ++++++++++++++++++++++
1317357784.382725000 WriteOdom aft_mapped_to_init
build tree time 18.130062 ms 
mapping data assosiation time 15.113149 ms 
--------------------stamp1317357784.694147109
points size 84068 
prepare time 10.309866 
mapping solver time 21.063960 ms 
sort q time 5.392725 
seperate points time 10.259548 
mapping solver time 22.749938 ms 
-----t: 0.0409979
OdomCount 219 & avg odom time 0.035156 ms ++++++++++++++++++++++
1317357784.694147109 WriteOdom laser_odom_to_init
1317357784.694147109 WriteOdom aft_mapped_to_init_high_frec
filter time 7.670541 ms 
map prepare time 2.226568 ms
map corner num 88291  surf num 30722 
build tree time 16.951123 ms 
mapping data assosiation time 15.280396 ms 
--------------------stamp1317357784.797993898
points size 84262 
sort q time 4.533927 
seperate points time 10.037977 
mapping data assosiation time 16.715401 ms 
publication time 4.816033 ms 
whole laserOdometry time 4.831056 ms 
 
mapping solver time 17.695554 ms 
filter time 7.132721 ms 
mapping pub time 2.062202 ms 
whole mapping time 95.694524 ms +++++
mappingCount 215 & avg mapping time 92.842897 ms ++++++++++++++++++++++
1317357784.694147110 WriteOdom aft_mapped_to_init
build tree time 17.473328 ms 
mapping data assosiation time 15.833184 ms 
--------------------stamp1317357784.901865959
mapping solver time 17.122665 ms 
prepare time 9.073007 
sort q time 5.231404 
seperate points time 10.765717 
scan registration time 23.726485 ms *************
publication time 4.853813 ms 
whole laserOdometry time 4.864303 ms 
 
mapping solver time 12.113749 ms 
mapping optimization time 80.850093 
add points time 0.576352 ms
mapping pub time 4.477037 ms 
whole mapping time 96.269982 ms +++++
mappingCount 216 & avg mapping time 92.858788 ms ++++++++++++++++++++++
[0m[ INFO] [1718889867.853560600, 1317357784.953273636]: Received 120100 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889867.853597714, 1317357784.953273636]: Data saved to 1317357784797993.pcd[0m
1317357784.797993898 WriteOdom aft_mapped_to_init
-----t: 0.0600076
OdomCount 221 & avg odom time 0.035207 ms ++++++++++++++++++++++
map prepare time 1.932441 ms
map corner num 89038  surf num 31062 
build tree time 19.627750 ms 
points size 85410 
prepare time 8.948584 
mapping data assosiation time 16.703163 ms 
sort q time 4.868624 
seperate points time 10.079878 
mapping solver time 17.576751 ms 
-----t: 0.0306368
OdomCount 222 & avg odom time 0.035187 ms ++++++++++++++++++++++
mapping data assosiation time 17.134668 ms 
1317357785.005759954 WriteOdom laser_odom_to_init
1317357785.005759954 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 12.240642 ms 
mapping optimization time 84.140825 
add points time 0.560707 ms
mapping pub time 1.869916 ms 
whole mapping time 94.075023 ms +++++
mappingCount 217 & avg mapping time 92.864409 ms ++++++++++++++++++++++
1317357784.901865959 WriteOdom aft_mapped_to_init
build tree time 18.939217 ms 
--------------------stamp1317357785.109654903
points size 85930 
sort q time 5.179232 
seperate points time 10.421458 
mapping solver time 19.027161 ms 
scan registration time 23.343252 ms *************
mapping data assosiation time 20.753048 ms 
-----t: 0.0290463
OdomCount 223 & avg odom time 0.035159 ms ++++++++++++++++++++++
1317357785.109654903 WriteOdom laser_odom_to_initmapping solver time 15.900491 ms 
filter time 5.811633 ms 
map prepare time 1.928597 ms
map corner num 89771  surf num 31338 
build tree time 22.137933 ms 
--------------------stamp1317357785.213526010
points size 83743 
mapping data assosiation time 18.652396 ms 
prepare time 9.723766 
sort q time 5.804389 
seperate points time 10.643960 
mapping solver time 18.701004 ms 
-----t: 0.028482
OdomCount 224 & avg odom time 0.035129 ms ++++++++++++++++++++++
mapping solver time 11.631391 ms 
mapping optimization time 89.905550 
add points time 0.548902 ms
mapping pub time 2.057163 ms 
whole mapping time 102.065307 ms +++++
mappingCount 219 & avg mapping time 92.948312 ms ++++++++++++++++++++++
1317357785.109654903 WriteOdom aft_mapped_to_init
map prepare time 1.877628 ms
map corner num 90150  surf num 31441 
build tree time 16.724826 ms 
--------------------stamp1317357785.317420959
points size 82874 
mapping solver time 21.256805 ms 
sort q time 4.720227 
seperate points time 11.069969 
scan registration time 27.996692 ms *************
mapping data assosiation time 16.807930 ms 
publication time 8.247989 ms 
whole laserOdometry time 8.263407 ms 
 
-----t: 0.0395564
OdomCount 225 & avg odom time 0.035149 ms ++++++++++++++++++++++
1317357785.317420959 WriteOdom laser_odom_to_init
1317357785.317420959 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.727909 ms 
mapping optimization time 87.901913 
add points time 0.519041 ms
mapping pub time 1.804509 ms 
whole mapping time 99.889382 ms +++++
mappingCount 220 & avg mapping time 92.979882 ms ++++++++++++++++++++++
1317357785.213526011 WriteOdom aft_mapped_to_init
map prepare time 1.887962 ms
map corner num 90520  surf num 31558 
build tree time 18.338440 ms 
mapping data assosiation time 14.792405 ms 
points size 82685 
mapping solver time 20.263353 ms 
sort q time 5.288478 
seperate points time 9.836644 
scan registration time 24.017950 ms *************
-----t: 0.023384
OdomCount 226 & avg odom time 0.035097 ms ++++++++++++++++++++++
1317357785.421313047 WriteOdom laser_odom_to_init
1317357785.421313047 WriteOdom aft_mapped_to_init_high_frec
publication time 5.862836 ms 
whole laserOdometry time 6.057082 ms 
 
mapping data assosiation time 17.076147 ms 
mapping solver time 15.138478 ms 
mapping optimization time 86.628198 
add points time 0.496516 ms
mapping pub time 5.469464 ms 
whole mapping time 100.088315 ms +++++
mappingCount 221 & avg mapping time 93.012063 ms ++++++++++++++++++++++
build tree time 10.222183 ms 
mapping data assosiation time 15.321076 ms 
--------------------stamp1317357785.525182962
mapping solver time 16.139189 ms 
points size 83395 
mapping data assosiation time 17.412726 ms 
sort q time 4.633461 
seperate points time 10.531166 
scan registration time 28.193199 ms *************
publication time 6.834212 ms 
whole laserOdometry time 6.880703 ms filter time 4.551663 ms 
mapping pub time 1.942382 ms 
whole mapping time 86.150047 ms +++++
mappingCount 222 & avg mapping time 92.981183 ms ++++++++++++++++++++++
1317357785.421313047 WriteOdom aft_mapped_to_init
map prepare time 2.016252 ms
map corner num 47063  surf num 17319 
build tree time 9.991455 ms 
mapping data assosiation time 16.153234 ms 
mapping solver time 20.028926 ms 
points size 82988 
mapping data assosiation time 18.233166 ms 
publication time 8.732900 ms 
whole laserOdometry time 8.743791 ms 
 
filter time 3.478915 ms 
mapping pub time 2.052730 ms 
whole mapping time 94.475420 ms +++++
mappingCount 223 & avg mapping time 92.987911 ms ++++++++++++++++++++++
1317357785.525182962 WriteOdom aft_mapped_to_init
1317357785.629054069 WriteOdom laser_odom_to_init
1317357785.629054069 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.618715 ms
map corner num 47551  surf num 17518 
build tree time 10.479010 ms 
mapping data assosiation time 17.722428 ms 
--------------------stamp1317357785.732949018
points size 82142 
mapping solver time 21.736643 ms 
prepare time 10.306629 
sort q time 5.091313 
seperate points time 10.205887 
mapping data assosiation time 19.892511 ms 
publication time 6.270261 ms 
whole laserOdometry time 6.285794 ms 
 
mapping solver time 22.166514 ms 
mapping optimization time 93.054060 
add points time 0.580551 ms
1317357785.629054070 WriteOdom aft_mapped_to_init
-----t: 0.0594611
OdomCount 229 & avg odom time 0.035227 ms ++++++++++++++++++++++
map prepare time 2.257750 ms
map corner num 48053  surf num 17745 
build tree time 12.648728 ms 
--------------------stamp1317357785.836868047
mapping data assosiation time 20.239444 ms 
prepare time 14.457672 
sort q time 4.491330 
seperate points time 10.472674 
mapping solver time 18.662555 ms 
scan registration time 29.189582 ms *************
-----t: 0.0242808
OdomCount 230 & avg odom time 0.035179 ms ++++++++++++++++++++++
publication time 6.630868 ms 
whole laserOdometry time 6.646656 ms 
 
mapping optimization time 87.015902 
add points time 0.641071 ms
map prepare time 1.745772 ms
map corner num 48593  surf num 17998 
build tree time 10.102429 ms 
mapping data assosiation time 17.302825 ms 
points size 87218 
prepare time 14.246354 
mapping solver time 24.654237 ms 
sort q time 5.178524 
seperate points time 11.193718 
publication time 5.484810 ms 
whole laserOdometry time 5.497455 ms 
 
mapping data assosiation time 31.657382 ms 
-----t: 0.0460203
OdomCount 231 & avg odom time 0.035226 ms ++++++++++++++++++++++
1317357785.940813064 WriteOdom laser_odom_to_init
1317357785.940813064 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.709884 ms 
filter time 3.760150 ms 
[0m[ INFO] [1718889868.919677573, 1317357786.014133428]: Received 67329 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889868.919716015, 1317357786.014133428]: Data saved to 1317357785836868.pcd[0m
mapping pub time 2.761780 ms 
whole mapping time 113.774780 ms +++++
mappingCount 226 & avg mapping time 93.141932 ms ++++++++++++++++++++++
1317357785.836868048 WriteOdom aft_mapped_to_init
map prepare time 2.417583 ms
map corner num 49095  surf num 18234 
build tree time 12.607404 ms 
points size 88310 
prepare time 10.956929 
sort q time 5.070893 
seperate points time 10.602487 
publication time 6.369088 ms 
whole laserOdometry time 6.383430 ms 
 
mapping solver time 27.852759 ms 
mapping data assosiation time 21.643955 ms 
-----t: 0.0707992
OdomCount 232 & avg odom time 0.035379 ms ++++++++++++++++++++++
1317357786.044755935 WriteOdom laser_odom_to_init
1317357786.044755935 WriteOdom aft_mapped_to_init_high_frec
filter time 5.331952 ms 
map prepare time 2.905712 ms
map corner num 49575  surf num 18398 
points size 87602 
sort q time 4.778626 
seperate points time 10.772712 
mapping data assosiation time 20.853860 ms 
-----t: 0.0282694
OdomCount 233 & avg odom time 0.035349 ms ++++++++++++++++++++++
1317357786.148653984 WriteOdom laser_odom_to_init
1317357786.148653984 WriteOdom aft_mapped_to_init_high_frec
publication time 9.445767 ms 
whole laserOdometry time 9.458432 ms 
 
mapping solver time 27.125586 ms 
mapping data assosiation time 17.439884 ms 
mapping solver time 18.438406 ms 
filter time 4.528600 ms 
points size 84394 
prepare time 11.474408 
sort q time 4.487958 
seperate points time 10.444272 
mapping data assosiation time 18.693101 ms 
-----t: 0.0255787
OdomCount 234 & avg odom time 0.035307 ms ++++++++++++++++++++++
publication time 5.987138 ms 
whole laserOdometry time 6.003556 ms 
 
mapping solver time 25.065755 ms 
mapping data assosiation time 17.440283 ms 
mapping solver time 19.159610 ms 
filter time 4.053155 ms 
map prepare time 1.869354 ms
map corner num 50487  surf num 18705 
points size 81532 
prepare time 11.240988 
build tree time 11.475106 ms 
sort q time 5.230715 
seperate points time 9.755756 
mapping data assosiation time 19.448762 ms 
-----t: 0.0338203
OdomCount 235 & avg odom time 0.035301 ms ++++++++++++++++++++++
mapping solver time 21.118773 ms 
mapping data assosiation time 16.297026 ms 
mapping solver time 14.374628 ms 
filter time 4.028879 ms 
mapping pub time 2.061762 ms 
whole mapping time 92.336114 ms +++++
mappingCount 230 & avg mapping time 93.350313 ms ++++++++++++++++++++++
1317357786.252547979 WriteOdom aft_mapped_to_init
--------------------stamp1317357786.460309982
build tree time 12.449603 ms 
points size 79352 
prepare time 13.127451 
sort q time 5.069424 
seperate points time 9.706285 
-----t: 0.027176
OdomCount 236 & avg odom time 0.035266 ms ++++++++++++++++++++++
mapping solver time 25.300942 ms 
mapping data assosiation time 15.482487 ms 
mapping solver time 12.963504 ms 
mapping optimization time 86.238553 
add points time 0.562892 ms
map prepare time 2.213405 ms
map corner num 51367  surf num 18923 
--------------------stamp1317357786.564181089
points size 78510 
prepare time 13.096800 
sort q time 4.664987 
seperate points time 9.341395 
publication time 4.714611 ms 
whole laserOdometry time 4.727747 ms 
 
mapping solver time 22.820048 ms 
mapping data assosiation time 19.954076 ms 
-----t: 0.0554691
OdomCount 237 & avg odom time 0.035352 ms ++++++++++++++++++++++
mapping solver time 22.245357 ms 
mapping optimization time 100.207936 
add points time 0.669186 ms
mapping pub time 1.905996 ms 
whole mapping time 110.609677 ms +++++
mappingCount 232 & avg mapping time 93.433220 ms ++++++++++++++++++++++
--------------------stamp1317357786.668050050
points size 76394 
build tree time 15.546841 ms 
sort q time 4.743114 
seperate points time 9.737592 
scan registration time 24.974735 ms *************
mapping data assosiation time 18.980163 ms 
publication time 7.352043 ms 
whole laserOdometry time 7.364638 ms 
 
-----t: 0.0353768
OdomCount 238 & avg odom time 0.035352 ms ++++++++++++++++++++++
mapping solver time 27.141203 ms 
mapping data assosiation time 19.338527 ms 
mapping solver time 22.421483 ms 
points size 70023 
mapping pub time 1.906350 ms 
whole mapping time 115.846838 ms +++++
mappingCount 233 & avg mapping time 93.529440 ms ++++++++++++++++++++++
1317357786.564181089 WriteOdom aft_mapped_to_init
prepare time 11.180256 
map prepare time 2.252773 ms
map corner num 52214  surf num 19101 
sort q time 3.991598 
seperate points time 8.922705 
scan registration time 23.343896 ms *************
-----t: 0.024048
OdomCount 239 & avg odom time 0.035304 ms ++++++++++++++++++++++
1317357786.771943092 WriteOdom laser_odom_to_init
1317357786.771943092 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.174837 ms 
mapping data assosiation time 14.525047 ms 
mapping solver time 12.502708 ms 
mapping optimization time 79.283043 
add points time 0.636810 ms
map prepare time 1.511909 ms
map corner num 52547  surf num 19165 
points size 63713 
sort q time 3.293721 
seperate points time 7.766687 
mapping data assosiation time 16.222314 ms 
-----t: 0.020598
OdomCount 240 & avg odom time 0.035243 ms ++++++++++++++++++++++
1317357786.875859975 WriteOdom laser_odom_to_init
1317357786.875859975 WriteOdom aft_mapped_to_init_high_frec
publication time 8.015682 ms 
whole laserOdometry time 8.029385 ms 
 
mapping data assosiation time 13.035760 ms 
mapping solver time 11.997504 ms 
filter time 4.793248 ms 
mapping pub time 1.707795 ms 
whole mapping time 82.054980 ms +++++
mappingCount 235 & avg mapping time 93.456811 ms ++++++++++++++++++++++
1317357786.771943092 WriteOdom aft_mapped_to_init
build tree time 11.422245 ms 
--------------------stamp1317357786.979782104
points size 60096 
sort q time 2.994783 
seperate points time 7.239700 
scan registration time 18.430611 ms *************
publication time 5.499769 ms 
whole laserOdometry time 5.526588 ms 
 
mapping solver time 14.080627 ms 
mapping optimization time 76.612333 
add points time 0.535125 ms
map prepare time 1.361627 ms
map corner num 53102  surf num 19283 
build tree time 12.657285 ms 
mapping data assosiation time 14.544434 ms 
--------------------stamp1317357787.083724975
points size 58399 
mapping solver time 18.996160 ms 
prepare time 8.306663 
scan registration time 18.815260 ms *************
mapping data assosiation time 15.591020 ms 
-----t: 0.0180759
OdomCount 242 & avg odom time 0.035152 ms ++++++++++++++++++++++
1317357787.083724975 WriteOdom laser_odom_to_init
1317357787.083724975 WriteOdom aft_mapped_to_init_high_frec
publication time 4.857112 ms 
whole laserOdometry time 4.870697 ms 
 
mapping solver time 17.051742 ms 
mapping optimization time 79.708883 
add points time 0.472350 ms
map prepare time 1.297162 ms
map corner num 53400  surf num 19345 
build tree time 11.007681 ms 
mapping data assosiation time 12.316046 ms 
mapping solver time 14.330011 ms 
mapping data assosiation time 13.073408 ms 
--------------------stamp1317357787.187691926
mapping solver time 12.243006 ms 
mapping pub time 1.273713 ms 
whole mapping time 71.457573 ms +++++
mappingCount 238 & avg mapping time 93.302245 ms ++++++++++++++++++++++
-----t: 0.0175057
OdomCount 243 & avg odom time 0.035080 ms ++++++++++++++++++++++
publication time 3.786663 ms 
whole laserOdometry time 3.798923 ms 
 
map prepare time 1.374276 ms
map corner num 53711  surf num 19418 
build tree time 10.133413 ms 
mapping data assosiation time 12.565617 ms 
mapping solver time 18.142005 ms 
mapping data assosiation time 13.709781 ms 
--------------------stamp1317357787.291682958
points size 59046 
filter time 4.262541 ms 
publication time 4.147461 ms 
whole laserOdometry time 4.161078 ms 
 
map prepare time 1.308060 ms
map corner num 54012  surf num 19496 
build tree time 12.493586 ms 
mapping data assosiation time 14.986615 ms 
mapping solver time 19.159316 ms 
mapping data assosiation time 14.888138 ms 
points size 61761 
prepare time 8.879670 
scan registration time 18.483364 ms *************
filter time 5.190798 ms 
mapping pub time 1.394031 ms 
whole mapping time 90.339239 ms +++++
mappingCount 240 & avg mapping time 93.231129 ms ++++++++++++++++++++++
1317357787.291682959 WriteOdom aft_mapped_to_init
-----t: 0.0241317
OdomCount 245 & avg odom time 0.035000 ms ++++++++++++++++++++++
1317357787.395697116 WriteOdom laser_odom_to_init
1317357787.395697116 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.902918 ms
map corner num 54388  surf num 19636 
build tree time 11.873681 ms 
mapping data assosiation time 16.460273 ms 
mapping solver time 20.083214 ms 
--------------------stamp1317357787.499711036
points size 64580 
mapping solver time 13.381877 ms 
mapping optimization time 78.418183 
add points time 0.588626 ms
publication time 4.655016 ms 
whole laserOdometry time 4.665172 ms 
 
map prepare time 2.287104 ms
map corner num 54852  surf num 19794 
build tree time 14.511112 ms 
mapping data assosiation time 20.095852 ms 
--------------------stamp1317357787.603750944
points size 66265 
prepare time 9.448598 
mapping solver time 25.872342 ms 
sort q time 3.487429 
seperate points time 8.207671 
scan registration time 21.783996 ms *************
mapping data assosiation time 20.358013 ms 
publication time 4.094011 ms 
whole laserOdometry time 4.106276 ms 
 
-----t: 0.0296995
OdomCount 247 & avg odom time 0.034972 ms ++++++++++++++++++++++
mapping solver time 21.402970 ms 
filter time 5.712133 ms 
mapping pub time 1.570942 ms 
whole mapping time 113.617769 ms +++++
mappingCount 242 & avg mapping time 93.303507 ms ++++++++++++++++++++++
1317357787.499711037 WriteOdom aft_mapped_to_init
build tree time 14.566158 ms 
mapping data assosiation time 21.510779 ms 
points size 67554 
sort q time 3.739328 
seperate points time 8.896570 
publication time 5.451521 ms 
whole laserOdometry time 5.464135 ms 
 
-----t: 0.0311739
OdomCount 248 & avg odom time 0.034957 ms ++++++++++++++++++++++
1317357787.707838058 WriteOdom laser_odom_to_init
1317357787.707838058 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.868539 ms 
filter time 3.925019 ms 
mapping pub time 1.574677 ms 
whole mapping time 108.895730 ms +++++
mappingCount 243 & avg mapping time 93.367691 ms ++++++++++++++++++++++
1317357787.603750944 WriteOdom aft_mapped_to_init
build tree time 11.902252 ms 
mapping data assosiation time 16.494322 ms 
--------------------stamp1317357787.811949014
points size 69497 
sort q time 3.973416 
seperate points time 8.383413 
mapping solver time 24.005980 ms 
scan registration time 20.998623 ms *************
publication time 5.685580 ms 
whole laserOdometry time 5.699999 ms 
 
mapping data assosiation time 21.992769 ms 
mapping solver time 18.025872 ms 
mapping optimization time 93.919640 
add points time 0.641702 ms
1317357787.707838058 WriteOdom aft_mapped_to_init
map prepare time 1.664857 ms
map corner num 56394  surf num 20374 
build tree time 10.866875 ms 
mapping data assosiation time 17.985682 ms 
points size 71566 
prepare time 9.848527 
sort q time 4.072521 
seperate points time 8.103540 
mapping solver time 28.866920 ms 
-----t: 0.0202918
OdomCount 250 & avg odom time 0.034846 ms ++++++++++++++++++++++
1317357787.916058063 WriteOdom laser_odom_to_init
1317357787.916058063 WriteOdom aft_mapped_to_init_high_frec
publication time 5.748233 ms 
whole laserOdometry time 5.762097 ms 
 
mapping data assosiation time 20.916774 ms 
mapping solver time 18.279462 ms 
mapping optimization time 98.160718 
add points time 0.600122 ms
filter time 4.295178 ms 
mapping pub time 1.675738 ms 
whole mapping time 106.448160 ms +++++
mappingCount 245 & avg mapping time 93.457299 ms ++++++++++++++++++++++
1317357787.811949015 WriteOdom aft_mapped_to_init
build tree time 10.970320 ms 
--------------------stamp1317357788.020168066
points size 73202 
sort q time 3.904991 
seperate points time 8.788908 
scan registration time 21.655291 ms *************
-----t: 0.0201636
OdomCount 251 & avg odom time 0.034787 ms ++++++++++++++++++++++
1317357788.020168066 WriteOdom laser_odom_to_init
1317357788.020168066 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.568002 ms 
mapping solver time 18.350667 ms 
filter time 4.185059 ms 
[0m[ INFO] [1718889870.993281300, 1317357788.089079231]: Received 78115 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889870.993318084, 1317357788.089079231]: Data saved to 1317357787916058.pcd[0m
mapping pub time 2.418136 ms 
whole mapping time 106.351453 ms +++++
mappingCount 246 & avg mapping time 93.509730 ms ++++++++++++++++++++++
1317357787.916058064 WriteOdom aft_mapped_to_init
build tree time 11.756438 ms 
--------------------stamp1317357788.124279022
mapping data assosiation time 21.758576 ms 
points size 73810 
prepare time 12.029265 
sort q time 4.085167 
seperate points time 8.927711 
mapping solver time 28.587118 ms 
-----t: 0.0219427
OdomCount 252 & avg odom time 0.034736 ms ++++++++++++++++++++++
1317357788.124279022 WriteOdom laser_odom_to_init
1317357788.124279022 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.374095 ms 
mapping solver time 15.095250 ms 
mapping pub time 1.611636 ms 
whole mapping time 106.488942 ms +++++
mappingCount 247 & avg mapping time 93.562286 ms ++++++++++++++++++++++
build tree time 11.993239 ms 
--------------------stamp1317357788.228389978
points size 75142 
mapping data assosiation time 23.037803 ms 
sort q time 4.290747 
seperate points time 9.240206 
publication time 6.177663 ms 
whole laserOdometry time 6.192290 ms 
 
mapping data assosiation time 20.463904 ms 
mapping solver time 20.662332 ms 
mapping optimization time 106.154144 
add points time 0.709481 ms
map prepare time 1.799795 ms
map corner num 58389  surf num 21058 
--------------------stamp1317357788.332499980
points size 75372 
prepare time 11.922084 
sort q time 3.807195 
seperate points time 8.881505 
mapping data assosiation time 22.377308 ms 
-----t: 0.0246757
OdomCount 254 & avg odom time 0.034676 ms ++++++++++++++++++++++
1317357788.332499980 WriteOdom laser_odom_to_init
1317357788.332499980 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.584652 ms 
mapping data assosiation time 18.236882 ms 
mapping solver time 15.800874 ms 
mapping optimization time 97.872875 
add points time 0.732268 ms
map prepare time 1.957456 ms
map corner num 58912  surf num 21226 
--------------------stamp1317357788.436585903
prepare time 10.926026 
sort q time 4.170275 
seperate points time 8.961184 
mapping data assosiation time 26.034062 ms 
-----t: 0.0350249
OdomCount 255 & avg odom time 0.034677 ms ++++++++++++++++++++++
mapping solver time 26.447250 ms 
mapping data assosiation time 20.859806 ms 
--------------------stamp1317357788.540652036
mapping solver time 21.577572 ms 
filter time 4.570160 ms 
prepare time 12.647119 
mapping pub time 1.825301 ms 
whole mapping time 121.160502 ms +++++
mappingCount 250 & avg mapping time 93.819390 ms ++++++++++++++++++++++
1317357788.332499981 WriteOdom aft_mapped_to_init
scan registration time 26.769586 ms *************
build tree time 14.755399 ms 
1317357788.540652036 WriteOdom laser_odom_to_init
1317357788.540652036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.662812 ms 
mapping solver time 24.014264 ms 
mapping data assosiation time 18.590578 ms 
points size 77626 
prepare time 9.536656 
mapping solver time 23.095391 ms 
filter time 5.738176 ms 
[0m[ INFO] [1718889871.569915520, 1317357788.663394736]: Received 81361 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889871.570107746, 1317357788.663394736]: Data saved to 1317357788436585.pcd[0m
mapping pub time 2.727115 ms 
whole mapping time 115.564543 ms +++++
mappingCount 251 & avg mapping time 93.906056 ms ++++++++++++++++++++++
1317357788.436585903 WriteOdom aft_mapped_to_init
map prepare time 1.862991 ms
map corner num 59811  surf num 21550 
publication time 7.454005 ms 
whole laserOdometry time 9.524843 ms 
 
-----t: 0.0336177
build tree time 15.931820 ms 
OdomCount 257 & avg odom time 0.034651 ms ++++++++++++++++++++++
1317357788.644714117 WriteOdom laser_odom_to_init
1317357788.644714117 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.219766 ms 
mapping solver time 24.801964 ms 
--------------------stamp1317357788.748776912
points size 77854 
mapping data assosiation time 23.562918 ms 
scan registration time 23.198970 ms *************
publication time 5.468934 ms 
whole laserOdometry time 5.491224 ms 
 
mapping solver time 23.516445 ms 
filter time 5.832941 ms 
map prepare time 2.372927 ms
map corner num 60268  surf num 21698 
-----t: 0.0369787
OdomCount 258 & avg odom time 0.034660 ms ++++++++++++++++++++++
1317357788.748776912 WriteOdom laser_odom_to_init
1317357788.748776912 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.576386 ms 
mapping data assosiation time 19.492901 ms 
--------------------stamp1317357788.852840900
mapping solver time 25.367788 ms 
points size 78573 
prepare time 10.247111 
sort q time 4.300004 
seperate points time 9.624921 
mapping data assosiation time 26.921954 ms 
publication time 12.749957 ms 
whole laserOdometry time 12.763483 ms 
 
1317357788.852840900 WriteOdom laser_odom_to_init
1317357788.852840900 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.223759 ms 
mapping optimization time 109.004982 
add points time 0.824918 ms
map prepare time 3.022137 ms
map corner num 60723  surf num 21849 
build tree time 13.891307 ms 
--------------------stamp1317357788.956902027
points size 79560 
sort q time 4.167192 
seperate points time 9.567918 
mapping solver time 26.566285 ms 
-----t: 0.0324144
OdomCount 260 & avg odom time 0.034646 ms ++++++++++++++++++++++
1317357788.956902027 WriteOdom laser_odom_to_init
1317357788.956902027 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.815540 ms 
filter time 4.360224 ms 
mapping pub time 1.856910 ms 
whole mapping time 120.133697 ms +++++
mappingCount 254 & avg mapping time 94.228184 ms ++++++++++++++++++++++
1317357788.852840900 WriteOdom aft_mapped_to_init
build tree time 11.961218 ms 
prepare time 10.950437 
sort q time 4.238368 
seperate points time 9.437689 
mapping data assosiation time 24.296655 ms 
scan registration time 25.425426 ms *************
publication time 6.261823 ms 
whole laserOdometry time 6.276322 ms 
 
-----t: 0.0278424
OdomCount 261 & avg odom time 0.034620 ms ++++++++++++++++++++++
1317357789.060966014 WriteOdom laser_odom_to_init
1317357789.060966014 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.977288 ms 
mapping data assosiation time 18.929576 ms 
mapping solver time 14.668380 ms 
filter time 5.004980 ms 
mapping pub time 1.835223 ms 
whole mapping time 109.651211 ms +++++
mappingCount 255 & avg mapping time 94.288682 ms ++++++++++++++++++++++
1317357788.956902027 WriteOdom aft_mapped_to_init
--------------------stamp1317357789.165007114
points size 81719 
build tree time 14.121670 ms 
prepare time 9.706433 
sort q time 4.564913 
seperate points time 10.154642 
mapping data assosiation time 24.513676 ms 
-----t: 0.0290131
OdomCount 262 & avg odom time 0.034599 ms ++++++++++++++++++++++
mapping solver time 22.809256 ms 
mapping data assosiation time 21.290191 ms 
mapping solver time 19.879997 ms 
filter time 4.810499 ms 
map prepare time 2.370524 ms
map corner num 62217  surf num 22385 
build tree time 13.360517 ms 
sort q time 4.420832 
seperate points time 10.077421 
mapping data assosiation time 24.713627 ms 
publication time 7.736947 ms 
whole laserOdometry time 7.753429 ms 
 
mapping solver time 23.537951 ms 
mapping data assosiation time 19.726716 ms 
--------------------stamp1317357789.373033046
points size 82838 
filter time 5.072174 ms 
mapping pub time 2.017778 ms 
whole mapping time 109.714949 ms +++++
mappingCount 257 & avg mapping time 94.431499 ms ++++++++++++++++++++++
1317357789.165007114 WriteOdom aft_mapped_to_init
prepare time 12.515803 
sort q time 4.720318 
seperate points time 11.136475 
build tree time 14.796747 ms 
publication time 6.321713 ms 
whole laserOdometry time 6.332129 ms 
 
-----t: 0.0520774
OdomCount 264 & avg odom time 0.034656 ms ++++++++++++++++++++++
1317357789.373033046 WriteOdom laser_odom_to_init
1317357789.373033046 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.571229 ms 
--------------------stamp1317357789.477024078
prepare time 12.473670 
mapping solver time 17.941746 ms 
sort q time 4.753527 
seperate points time 11.157404 
filter time 5.412292 ms 
mapping pub time 1.861467 ms 
whole mapping time 119.562471 ms +++++
mappingCount 258 & avg mapping time 94.528937 ms ++++++++++++++++++++++
1317357789.269021034 WriteOdom aft_mapped_to_init
scan registration time 29.280660 ms *************
build tree time 13.099892 ms 
publication time 17.707648 ms 
whole laserOdometry time 17.719351 ms 
 
mapping data assosiation time 24.451120 ms 
mapping solver time 22.306665 ms 
--------------------stamp1317357789.580991029
points size 85585 
prepare time 12.465974 
sort q time 4.914564 
seperate points time 10.887673 
mapping solver time 18.766898 ms 
filter time 5.361144 ms 
publication time 7.191656 ms 
whole laserOdometry time 7.209101 ms 
 
mapping pub time 2.128730 ms 
whole mapping time 115.286836 ms +++++
mappingCount 259 & avg mapping time 94.609108 ms ++++++++++++++++++++++
1317357789.373033047 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 15.156269 ms 
mapping data assosiation time 22.820749 ms 
--------------------stamp1317357789.684909105
mapping solver time 24.715825 ms 
sort q time 4.596347 
seperate points time 10.624752 
scan registration time 26.420158 ms *************
-----t: 0.0320173
OdomCount 267 & avg odom time 0.034677 ms ++++++++++++++++++++++
1317357789.684909105 WriteOdom laser_odom_to_init
1317357789.684909105 WriteOdom aft_mapped_to_init_high_frec
publication time 8.372438 ms 
whole laserOdometry time 8.386140 ms 
 
filter time 4.598324 ms 
map prepare time 2.105819 ms
map corner num 64297  surf num 23303 
build tree time 13.074611 ms 
mapping data assosiation time 22.268180 ms 
points size 88625 
sort q time 4.863091 
seperate points time 9.860305 
scan registration time 26.442594 ms *************
mapping solver time 30.068505 ms 
-----t: 0.0290799
OdomCount 268 & avg odom time 0.034656 ms ++++++++++++++++++++++
1317357789.788779973 WriteOdom laser_odom_to_init
1317357789.788779973 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.132918 ms 
mapping solver time 17.096609 ms 
mapping optimization time 111.903243 
add points time 0.856822 ms
mapping pub time 7.770389 ms 
whole mapping time 127.379755 ms +++++
mappingCount 261 & avg mapping time 94.829104 ms ++++++++++++++++++++++
--------------------stamp1317357789.892626047
points size 89075 
prepare time 13.779737 
sort q time 5.074580 
seperate points time 11.937101 
scan registration time 30.954025 ms *************
mapping data assosiation time 27.890225 ms 
publication time 9.161732 ms 
whole laserOdometry time 9.175228 ms 
 
-----t: 0.0334551
OdomCount 269 & avg odom time 0.034651 ms ++++++++++++++++++++++
1317357789.892626047 WriteOdom laser_odom_to_init
1317357789.892626047 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.801624 ms 
mapping data assosiation time 22.870856 ms 
--------------------stamp1317357789.996402025
mapping solver time 25.662348 ms 
filter time 6.917536 ms 
sort q time 4.803457 
seperate points time 11.119401 
map prepare time 2.775139 ms
map corner num 65402  surf num 23793 
scan registration time 28.553882 ms *************
build tree time 16.134892 ms 
publication time 10.276434 ms 
whole laserOdometry time 10.289375 ms 
 
mapping data assosiation time 24.528868 ms 
mapping solver time 26.102098 ms 
--------------------stamp1317357790.100080966
points size 90398 
mapping data assosiation time 25.346258 ms 
sort q time 4.759255 
seperate points time 11.143360 
scan registration time 34.039210 ms *************
mapping solver time 29.654529 ms 
filter time 6.240750 ms 
mapping pub time 2.141327 ms 
whole mapping time 135.353588 ms +++++
mappingCount 263 & avg mapping time 95.139934 ms ++++++++++++++++++++++
1317357789.892626047 WriteOdom aft_mapped_to_init
publication time 9.748176 ms 
whole laserOdometry time 9.770692 ms 
 
1317357790.100080966 WriteOdom laser_odom_to_init
1317357790.100080966 WriteOdom aft_mapped_to_init_high_frec
build tree time 15.080542 ms 
--------------------stamp1317357790.203687906
points size 91578 
prepare time 10.912824 
sort q time 6.295613 
seperate points time 11.931411 
mapping data assosiation time 27.012805 ms 
-----t: 0.0598147
OdomCount 272 & avg odom time 0.034788 ms ++++++++++++++++++++++
mapping solver time 29.544963 ms 
filter time 5.091262 ms 
mapping pub time 2.145578 ms 
whole mapping time 138.581007 ms +++++
mappingCount 264 & avg mapping time 95.304495 ms ++++++++++++++++++++++
1317357789.996402025 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357790.307270050
build tree time 14.946981 ms 
prepare time 13.956765 
sort q time 5.043254 
seperate points time 11.594923 
mapping data assosiation time 27.181999 ms 
-----t: 0.0320193
OdomCount 273 & avg odom time 0.034778 ms ++++++++++++++++++++++
1317357790.307270050 WriteOdom laser_odom_to_init
1317357790.307270050 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.043893 ms 
mapping data assosiation time 22.220775 ms 
--------------------stamp1317357790.410876989
prepare time 10.965953 
mapping solver time 28.900532 ms 
mapping optimization time 125.735124 
add points time 0.906876 ms
filter time 5.690446 ms 
build tree time 16.813532 ms 
-----t: 0.0540797
OdomCount 274 & avg odom time 0.034849 ms ++++++++++++++++++++++
mapping data assosiation time 27.173640 ms 
mapping solver time 27.451928 ms 
points size 94397 
sort q time 5.793486 
seperate points time 11.087374 
scan registration time 29.822911 ms *************
publication time 8.175443 ms 
whole laserOdometry time 8.192470 ms 
 
-----t: 0.0482895
OdomCount 275 & avg odom time 0.034897 ms ++++++++++++++++++++++
1317357790.514530897 WriteOdom laser_odom_to_init
1317357790.514530897 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.372464 ms 
mapping optimization time 142.088163 
add points time 0.740221 ms
[0m[ INFO] [1718889873.490902729, 1317357790.593280421]: Received 92652 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889873.490938310, 1317357790.593280421]: Data saved to 1317357790307270.pcd[0m
--------------------stamp1317357790.618207931
points size 94537 
prepare time 11.481140 
mapping data assosiation time 27.411459 ms 
sort q time 7.191162 
seperate points time 13.616373 
publication time 7.925304 ms 
whole laserOdometry time 7.938569 ms 
 
mapping solver time 36.199934 ms 
-----t: 0.060652
OdomCount 276 & avg odom time 0.034991 ms ++++++++++++++++++++++
1317357790.618207931 WriteOdom laser_odom_to_init
1317357790.618207931 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.029198 ms 
--------------------stamp1317357790.721911907
points size 94609 
prepare time 13.386867 
mapping optimization time 147.666275 
filter time 7.082323 ms 
scan registration time 32.844771 ms *************
mapping pub time 2.247004 ms 
whole mapping time 160.489447 ms +++++
mappingCount 267 & avg mapping time 95.935070 ms ++++++++++++++++++++++
1317357790.410876989 WriteOdom aft_mapped_to_init
publication time 8.824517 ms 
whole laserOdometry time 8.839859 ms 
 
-----t: 0.0435668
OdomCount 277 & avg odom time 0.035022 ms ++++++++++++++++++++++
mapping data assosiation time 30.273454 ms 
--------------------stamp1317357790.825639009
points size 94868 
mapping solver time 37.821366 ms 
sort q time 5.193868 
seperate points time 12.250674 
publication time 8.797784 ms 
whole laserOdometry time 8.815464 ms 
 
mapping data assosiation time 30.821341 ms 
-----t: 0.0450238
OdomCount 278 & avg odom time 0.035058 ms ++++++++++++++++++++++
mapping solver time 22.819941 ms 
mapping optimization time 142.163939 
add points time 0.771908 ms
filter time 7.184785 ms 
mapping pub time 2.295265 ms 
whole mapping time 155.792353 ms +++++
mappingCount 268 & avg mapping time 96.158437 ms ++++++++++++++++++++++
1317357790.618207932 WriteOdom aft_mapped_to_init
--------------------stamp1317357790.929389953
points size 95420 
sort q time 5.986625 
seperate points time 11.598692 
mapping data assosiation time 26.152466 ms 
publication time 12.148988 ms 
whole laserOdometry time 12.163050 ms 
 
mapping solver time 29.012383 ms 
-----t: 0.0480325
OdomCount 279 & avg odom time 0.035104 ms ++++++++++++++++++++++
1317357790.929389953 WriteOdom laser_odom_to_init
1317357790.929389953 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.890222 ms 
--------------------stamp1317357791.033166885
mapping solver time 26.616983 ms 
mapping optimization time 122.093175 
points size 95726 
add points time 0.844805 ms
prepare time 12.576738 
mapping pub time 2.353571 ms 
whole mapping time 135.178501 ms +++++
mappingCount 269 & avg mapping time 96.303508 ms ++++++++++++++++++++++
1317357790.721911907 WriteOdom aft_mapped_to_init
scan registration time 31.610177 ms *************
build tree time 16.281886 ms 
-----t: 0.050389
OdomCount 280 & avg odom time 0.035159 ms ++++++++++++++++++++++
1317357791.033166885 WriteOdom laser_odom_to_init
mapping data assosiation time 28.171250 ms 
1317357791.033166885 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.397202 ms 
--------------------stamp1317357791.136941909
points size 95538 
mapping data assosiation time 28.322468 ms 
scan registration time 27.828199 ms *************
mapping solver time 20.474357 ms 
filter time 5.808954 ms 
-----t: 0.0345728
OdomCount 281 & avg odom time 0.035157 ms ++++++++++++++++++++++
1317357791.136941909 WriteOdom laser_odom_to_init
mapping pub time 2.221026 ms 
whole mapping time 131.075280 ms +++++
mappingCount 270 & avg mapping time 96.432307 ms ++++++++++++++++++++++
1317357791.136941909 WriteOdom aft_mapped_to_init_high_frec
1317357790.929389954 WriteOdom aft_mapped_to_init
build tree time 15.397653 ms 
mapping data assosiation time 24.722021 ms 
--------------------stamp1317357791.240741014
points size 95590 
prepare time 12.894449 
sort q time 6.718794 
seperate points time 13.069710 
publication time 7.329220 ms 
whole laserOdometry time 7.346672 ms 
 
-----t: 0.0429522
OdomCount 282 & avg odom time 0.035184 ms ++++++++++++++++++++++
mapping solver time 19.678342 ms 
mapping optimization time 117.606553 
add points time 0.871338 ms
[0m[ INFO] [1718889874.218317640, 1317357791.316329651]: Received 96665 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889874.218346387, 1317357791.316329651]: Data saved to 1317357791033166.pcd[0m
mapping pub time 3.560777 ms 
whole mapping time 132.014577 ms +++++
mappingCount 271 & avg mapping time 96.563686 ms ++++++++++++++++++++++
1317357791.033166885 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 14.721651 ms 
points size 95675 
mapping data assosiation time 26.577143 ms 
scan registration time 32.861901 ms *************
mapping solver time 26.196848 ms 
-----t: 0.0506327
OdomCount 283 & avg odom time 0.035239 ms ++++++++++++++++++++++
1317357791.344538927 WriteOdom laser_odom_to_init
1317357791.344538927 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.012638 ms 
--------------------stamp1317357791.448312044
map prepare time 2.670285 ms
map corner num 70992  surf num 26288 
prepare time 15.299915 
build tree time 21.570926 ms 
publication time 9.256767 ms 
whole laserOdometry time 9.271603 ms 
 
--------------------stamp1317357791.552110910
points size 95868 
mapping solver time 20.806021 ms 
sort q time 6.862770 
seperate points time 12.818027 
map prepare time 3.197396 ms
map corner num 71470  surf num 26447 
publication time 9.212877 ms 
whole laserOdometry time 9.230388 ms 
 
mapping data assosiation time 22.696868 ms 
--------------------stamp1317357791.655934095
points size 95964 
sort q time 5.456840 
seperate points time 11.208140 
mapping data assosiation time 27.897104 ms 
scan registration time 30.876196 ms *************
publication time 8.855443 ms 
whole laserOdometry time 8.886117 ms 
 
filter time 5.327929 ms 
-----t: 0.0415926
OdomCount 286 & avg odom time 0.035300 ms ++++++++++++++++++++++
mapping pub time 2.192415 ms 
whole mapping time 129.434123 ms +++++
mappingCount 274 & avg mapping time 96.919755 ms ++++++++++++++++++++++
build tree time 15.605213 ms 
--------------------stamp1317357791.759782075
points size 95905 
prepare time 15.516524 
sort q time 6.771292 
seperate points time 12.923912 
mapping solver time 26.984497 ms 
scan registration time 32.684314 ms *************
publication time 8.982361 ms 
whole laserOdometry time 8.997666 ms 
 
-----t: 0.0496968
OdomCount 287 & avg odom time 0.035350 ms ++++++++++++++++++++++
mapping solver time 20.097923 ms 
mapping optimization time 121.268365 
add points time 0.783864 ms
map prepare time 2.532031 ms
map corner num 72293  surf num 26723 
--------------------stamp1317357791.863651990
build tree time 14.983539 ms 
points size 96264 
sort q time 5.617891 
seperate points time 12.929187 
scan registration time 29.049727 ms *************
mapping data assosiation time 28.037705 ms 
publication time 9.819583 ms 
whole laserOdometry time 9.828468 ms 
 
-----t: 0.0386946
OdomCount 288 & avg odom time 0.035361 ms ++++++++++++++++++++++
1317357791.863651990 WriteOdom laser_odom_to_init
1317357791.863651990 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.500199 ms 
mapping data assosiation time 26.084736 ms 
--------------------stamp1317357791.967559099
mapping solver time 19.000947 ms 
filter time 5.236129 ms 
[0m[ INFO] [1718889874.881788584, 1317357791.976276584]: Received 99630 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889874.881833687, 1317357791.976276584]: Data saved to 1317357791759782.pcd[0m
mapping pub time 3.815630 ms 
whole mapping time 130.815701 ms +++++
mappingCount 276 & avg mapping time 97.169077 ms ++++++++++++++++++++++
map prepare time 3.129377 ms
map corner num 72764  surf num 26866 
build tree time 18.368004 ms 
publication time 19.447676 ms 
whole laserOdometry time 19.457026 ms 
 
mapping data assosiation time 30.412422 ms 
-----t: 0.0563193
OdomCount 289 & avg odom time 0.035434 ms ++++++++++++++++++++++
1317357791.967559099 WriteOdom laser_odom_to_init
1317357791.967559099 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.915143 ms 
--------------------stamp1317357792.071502923
points size 93729 
prepare time 12.302531 
sort q time 5.735781 
seperate points time 12.785014 
mapping data assosiation time 30.930307 ms 
publication time 8.623192 ms 
whole laserOdometry time 8.635743 ms 
 
mapping solver time 23.274517 ms 
filter time 7.513841 ms 
map prepare time 3.254024 ms
map corner num 73140  surf num 26976 
build tree time 19.963938 ms 
--------------------stamp1317357792.175479888
points size 92677 
mapping data assosiation time 31.106135 ms 
publication time 7.520679 ms 
whole laserOdometry time 7.611028 ms 
 
1317357792.175479888 WriteOdom laser_odom_to_init
1317357792.175479888 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.702819 ms 
mapping solver time 19.054229 ms 
filter time 6.009532 ms 
map prepare time 2.471537 ms
map corner num 73507  surf num 27094 
points size 92199 
prepare time 15.157751 
build tree time 16.476181 ms 
publication time 6.758205 ms 
whole laserOdometry time 6.775372 ms 
 
mapping data assosiation time 32.550241 ms 
-----t: 0.052492
OdomCount 292 & avg odom time 0.035617 ms ++++++++++++++++++++++
1317357792.279493093 WriteOdom laser_odom_to_init
1317357792.279493093 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.506220 ms 
--------------------stamp1317357792.383557081
points size 91975 
mapping data assosiation time 23.109358 ms 
prepare time 12.213725 
sort q time 4.979926 
seperate points time 11.642861 
mapping solver time 25.382855 ms 
publication time 12.177335 ms 
whole laserOdometry time 12.278328 ms 
 
mapping pub time 2.227218 ms 
whole mapping time 143.528454 ms +++++
mappingCount 279 & avg mapping time 97.691685 ms ++++++++++++++++++++++
1317357792.175479889 WriteOdom aft_mapped_to_init
build tree time 15.196271 ms 
mapping data assosiation time 23.524269 ms 
--------------------stamp1317357792.487668037
points size 91507 
mapping solver time 30.438291 ms 
mapping data assosiation time 26.996069 ms 
mapping solver time 24.786895 ms 
mapping optimization time 122.376743 
add points time 0.730636 ms
filter time 5.425271 ms 
map prepare time 2.457327 ms
map corner num 74368  surf num 27366 
build tree time 15.051160 ms 
points size 90987 
prepare time 12.406452 
mapping data assosiation time 26.440787 ms 
sort q time 6.161981 
seperate points time 12.732396 
publication time 7.727556 ms 
whole laserOdometry time 7.741223 ms 
 
-----t: 0.0559928
OdomCount 295 & avg odom time 0.035693 ms ++++++++++++++++++++++
1317357792.591800928 WriteOdom laser_odom_to_init
1317357792.591800928 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.496338 ms 
--------------------stamp1317357792.695983886
filter time 5.462661 ms 
mapping pub time 10.159406 ms 
whole mapping time 145.819598 ms +++++
mappingCount 281 & avg mapping time 97.990084 ms ++++++++++++++++++++++
sort q time 5.061022 
seperate points time 11.357597 
build tree time 18.439670 ms 
publication time 11.386034 ms 
whole laserOdometry time 11.398443 ms 
 
-----t: 0.0437894
OdomCount 296 & avg odom time 0.035721 ms ++++++++++++++++++++++
mapping solver time 30.006159 ms 
points size 87961 
mapping data assosiation time 28.922344 ms 
prepare time 35.879186 
-----t: 0.0407779
OdomCount 297 & avg odom time 0.035738 ms ++++++++++++++++++++++
1317357792.800190925 WriteOdom laser_odom_to_init
1317357792.800190925 WriteOdom aft_mapped_to_init_high_frec
sort q time 4.962376 
seperate points time 19.426696 
filter time 5.544597 ms 
mapping pub time 2.121644 ms 
whole mapping time 152.821974 ms +++++
mappingCount 282 & avg mapping time 98.184540 ms ++++++++++++++++++++++
1317357792.591800928 WriteOdom aft_mapped_to_init
publication time 6.953520 ms 
whole laserOdometry time 6.964383 ms 
 
build tree time 15.538356 ms 
--------------------stamp1317357792.904373884
points size 86909 
prepare time 31.464452 
sort q time 8.361189 
seperate points time 17.284318 
mapping solver time 34.713605 ms 
publication time 6.774260 ms 
whole laserOdometry time 6.787022 ms 
 
mapping data assosiation time 26.871588 ms 
mapping solver time 21.556821 ms 
filter time 6.543157 ms 
mapping pub time 2.003949 ms 
whole mapping time 140.595364 ms +++++
mappingCount 283 & avg mapping time 98.334419 ms ++++++++++++++++++++++
1317357792.695983887 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 85637 
sort q time 4.872120 
seperate points time 10.934576 
scan registration time 25.998066 ms *************
build tree time 17.148947 ms 
-----t: 0.029687
OdomCount 299 & avg odom time 0.035724 ms ++++++++++++++++++++++
1317357793.008517026 WriteOdom laser_odom_to_init
1317357793.008517026 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.618165 ms 
mapping solver time 27.229156 ms 
--------------------stamp1317357793.112627983
points size 84545 
prepare time 11.538328 
sort q time 4.567535 
seperate points time 10.802157 
add points time 0.779784 ms
scan registration time 28.912749 ms *************
map prepare time 2.376306 ms
map corner num 76242  surf num 27937 
build tree time 19.163162 ms 
mapping data assosiation time 24.862190 ms 
--------------------stamp1317357793.216732025
points size 84566 
sort q time 4.371764 
seperate points time 10.319565 
scan registration time 26.515124 ms *************
mapping data assosiation time 27.682146 ms 
publication time 8.715845 ms 
whole laserOdometry time 8.799949 ms 
 
mapping solver time 24.879068 ms 
mapping optimization time 127.559321 
add points time 0.821950 ms
mapping pub time 1.918826 ms 
whole mapping time 138.131664 ms +++++
mappingCount 285 & avg mapping time 98.598618 ms ++++++++++++++++++++++
1317357793.008517027 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.256006 ms
map corner num 76827  surf num 28155 
build tree time 15.470862 ms 
--------------------stamp1317357793.320872068
points size 84650 
prepare time 11.853135 
sort q time 5.040236 
seperate points time 11.721387 
mapping solver time 29.376080 ms 
-----t: 0.0412112
OdomCount 302 & avg odom time 0.035740 ms ++++++++++++++++++++++
1317357793.320872068 WriteOdom laser_odom_to_init
1317357793.320872068 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.260399 ms 
mapping optimization time 123.789703 
--------------------stamp1317357793.425004959
points size 85564 
sort q time 5.032451 
seperate points time 11.061356 
build tree time 18.586995 ms 
scan registration time 29.424061 ms *************
publication time 8.055439 ms 
whole laserOdometry time 8.068169 ms 
 
mapping solver time 27.939067 ms 
--------------------stamp1317357793.529159069
points size 85517 
sort q time 5.462049 
seperate points time 10.926153 
scan registration time 25.756409 ms *************
filter time 7.402535 ms 
map prepare time 3.998041 ms
map corner num 77918  surf num 28506 
build tree time 16.309593 ms 
mapping data assosiation time 20.674016 ms 
--------------------stamp1317357793.633389949
points size 85668 
prepare time 14.054447 
sort q time 4.742123 
seperate points time 11.278446 
scan registration time 30.887733 ms *************
-----t: 0.0309098
OdomCount 305 & avg odom time 0.035744 ms ++++++++++++++++++++++
1317357793.633389949 WriteOdom laser_odom_to_init
1317357793.633389949 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.204476 ms 
mapping solver time 22.857047 ms 
mapping optimization time 117.699583 
add points time 0.849857 ms
1317357793.425004959 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.210265 ms
map corner num 78382  surf num 28665 
build tree time 16.953090 ms 
points size 85145 
mapping data assosiation time 25.068029 ms 
scan registration time 25.752455 ms *************
mapping solver time 29.460484 ms 
mapping data assosiation time 22.056402 ms 
mapping solver time 27.145427 ms 
filter time 7.954355 ms 
points size 84654 
map prepare time 3.406627 ms
map corner num 78899  surf num 28834 
prepare time 14.413721 
sort q time 4.718128 
seperate points time 11.045540 
build tree time 20.163683 ms 
-----t: 0.0278949
OdomCount 307 & avg odom time 0.035698 ms ++++++++++++++++++++++
mapping data assosiation time 24.540069 ms 
mapping solver time 24.877401 ms 
--------------------stamp1317357793.946086883
points size 84764 
sort q time 4.993897 
seperate points time 9.960836 
scan registration time 26.660904 ms *************
mapping optimization time 125.913242 
add points time 1.041584 ms
-----t: 0.0292387
OdomCount 308 & avg odom time 0.035677 ms ++++++++++++++++++++++
mapping pub time 1.851077 ms 
whole mapping time 139.373856 ms +++++
mappingCount 290 & avg mapping time 99.272020 ms ++++++++++++++++++++++
1317357793.737646103 WriteOdom aft_mapped_to_init
map prepare time 2.160911 ms
map corner num 79486  surf num 29043 
build tree time 17.983750 ms 
mapping data assosiation time 20.766856 ms 
--------------------stamp1317357794.050302982
points size 84530 
mapping solver time 25.592970 ms 
prepare time 11.663377 
sort q time 5.145304 
seperate points time 10.528899 
mapping data assosiation time 25.241451 ms 
-----t: 0.0278206
OdomCount 309 & avg odom time 0.035652 ms ++++++++++++++++++++++
1317357794.050302982 WriteOdom laser_odom_to_init
1317357794.050302982 WriteOdom aft_mapped_to_init_high_frec
publication time 7.732961 ms 
whole laserOdometry time 7.744317 ms 
 
mapping solver time 22.342168 ms 
filter time 5.620000 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.722157 ms
map corner num 79976  surf num 29170 
build tree time 18.737065 ms 
--------------------stamp1317357794.154485940
points size 84188 
mapping data assosiation time 23.153797 ms 
prepare time 11.579449 
sort q time 4.596656 
seperate points time 10.792281 
mapping solver time 30.205894 ms 
publication time 15.536936 ms 
whole laserOdometry time 15.564610 ms 
 
mapping data assosiation time 22.965602 ms 
mapping solver time 19.885717 ms 
mapping optimization time 116.265874 
add points time 0.747573 ms
filter time 5.716865 ms 
--------------------stamp1317357794.258655071
points size 83999 
build tree time 21.409801 ms 
sort q time 5.272861 
seperate points time 10.607724 
scan registration time 31.935129 ms *************
-----t: 0.036326
OdomCount 311 & avg odom time 0.035654 ms ++++++++++++++++++++++
1317357794.258655071 WriteOdom laser_odom_to_init
1317357794.258655071 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.939796 ms 
mapping data assosiation time 21.629790 ms 
--------------------stamp1317357794.362814903
points size 84057 
mapping solver time 24.014316 ms 
mapping optimization time 122.225552 
add points time 0.824266 ms
prepare time 12.152557 
sort q time 5.079629 
seperate points time 11.321611 
build tree time 19.072834 ms 
-----t: 0.047716
OdomCount 312 & avg odom time 0.035693 ms ++++++++++++++++++++++
mapping data assosiation time 25.163481 ms 
1317357794.362814903 WriteOdom laser_odom_to_init
mapping solver time 27.085420 ms 
--------------------stamp1317357794.466927051
points size 85554 
sort q time 4.861240 
seperate points time 9.706313 
mapping solver time 24.402501 ms 
filter time 7.739615 ms 
map prepare time 2.250604 ms
map corner num 81632  surf num 29690 
build tree time 15.592907 ms 
mapping data assosiation time 19.605501 ms 
--------------------stamp1317357794.571038007
points size 86653 
prepare time 11.368664 
mapping solver time 27.412962 ms 
sort q time 4.898979 
seperate points time 11.251939 
mapping data assosiation time 23.609870 ms 
publication time 8.037307 ms 
whole laserOdometry time 8.052508 ms 
 
mapping solver time 17.154234 ms 
filter time 5.906015 ms 
mapping pub time 1.912252 ms 
whole mapping time 115.856199 ms +++++
mappingCount 295 & avg mapping time 99.735186 ms ++++++++++++++++++++++
1317357794.362814903 WriteOdom aft_mapped_to_init
build tree time 18.754061 ms 
--------------------stamp1317357794.675122976
mapping data assosiation time 23.270914 ms 
points size 87273 
prepare time 10.543376 
sort q time 5.595925 
seperate points time 10.634777 
points size 89137 
prepare time 14.797541 
build tree time 22.586934 ms 
sort q time 5.659696 
seperate points time 13.251920 
scan registration time 34.337697 ms *************
mapping data assosiation time 25.944869 ms 
publication time 8.450704 ms 
whole laserOdometry time 8.462440 ms 
 
mapping solver time 25.363066 ms 
-----t: 0.0722672
OdomCount 316 & avg odom time 0.035775 ms ++++++++++++++++++++++
--------------------stamp1317357794.883249044
points size 90440 
map prepare time 3.005326 ms
map corner num 83481  surf num 30389 
sort q time 5.072468 
seperate points time 12.039759 
scan registration time 33.289127 ms *************
build tree time 20.752398 ms 
-----t: 0.0413856
OdomCount 317 & avg odom time 0.035793 ms ++++++++++++++++++++++
mapping solver time 24.504322 ms 
--------------------stamp1317357794.987287044
points size 91741 
sort q time 5.361143 
seperate points time 11.614433 
scan registration time 28.038574 ms *************
mapping solver time 16.263017 ms 
mapping optimization time 110.783822 
add points time 0.732491 ms
filter time 7.242124 ms 
mapping pub time 2.244324 ms 
whole mapping time 124.087089 ms +++++
mappingCount 298 & avg mapping time 100.019506 ms ++++++++++++++++++++++
1317357794.779186010 WriteOdom aft_mapped_to_init
-----t: 0.0480898
OdomCount 318 & avg odom time 0.035832 ms ++++++++++++++++++++++
build tree time 17.992962 ms 
1317357794.987287044 WriteOdom laser_odom_to_init
1317357794.987287044 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.851674 ms 
--------------------stamp1317357795.091326951
mapping solver time 27.531344 ms 
prepare time 12.295550 
sort q time 6.084268 
seperate points time 14.047157 
scan registration time 33.526812 ms *************
publication time 12.333318 ms 
whole laserOdometry time 12.366396 ms 
 
mapping solver time 29.458640 ms 
filter time 7.703849 ms 
map prepare time 2.998801 ms
map corner num 84586  surf num 30848 
1317357795.091326951 WriteOdom laser_odom_to_init
points size 93189 
prepare time 15.451819 
sort q time 5.233245 
seperate points time 12.193854 
mapping solver time 32.045017 ms 
publication time 8.812518 ms 
whole laserOdometry time 8.829806 ms 
 
mapping data assosiation time 24.095681 ms 
-----t: 0.0627849
OdomCount 320 & avg odom time 0.036077 ms ++++++++++++++++++++++
--------------------stamp1317357795.299416065
points size 93968 
filter time 8.915599 ms 
prepare time 13.306020 
mapping pub time 2.654780 ms 
whole mapping time 144.360779 ms +++++
mappingCount 300 & avg mapping time 100.296592 ms ++++++++++++++++++++++
1317357794.987287045 WriteOdom aft_mapped_to_init
sort q time 5.288022 
seperate points time 12.639292 
build tree time 22.868710 ms 
-----t: 0.0343307
OdomCount 321 & avg odom time 0.036072 ms ++++++++++++++++++++++
1317357795.299416065 WriteOdom laser_odom_to_init
1317357795.299416065 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.449693 ms 
mapping solver time 23.627600 ms 
--------------------stamp1317357795.403453111
mapping data assosiation time 23.258660 ms 
points size 95355 
prepare time 13.673868 
sort q time 5.433874 
seperate points time 12.503031 
scan registration time 31.102118 ms *************
filter time 7.044347 ms 
1317357795.403453111 WriteOdom aft_mapped_to_init_high_frec
build tree time 16.191002 ms 
--------------------stamp1317357795.507457017
points size 96104 
sort q time 5.329732 
seperate points time 13.200991 
mapping solver time 31.771329 ms 
publication time 8.512407 ms 
whole laserOdometry time 8.543542 ms 
 
-----t: 0.0421044
OdomCount 323 & avg odom time 0.036116 ms ++++++++++++++++++++++
mapping solver time 19.545240 ms 
filter time 5.788692 ms 
mapping pub time 2.206474 ms 
whole mapping time 125.008447 ms +++++
mappingCount 302 & avg mapping time 100.545083 ms ++++++++++++++++++++++
1317357795.299416065 WriteOdom aft_mapped_to_init
--------------------stamp1317357795.611473083
points size 96582 
build tree time 20.371328 ms 
prepare time 11.598964 
sort q time 5.503424 
seperate points time 11.683995 
mapping data assosiation time 21.519414 ms 
publication time 7.782691 ms 
whole laserOdometry time 7.800231 ms 
 
mapping solver time 25.483173 ms 
-----t: 0.0459689
OdomCount 324 & avg odom time 0.036146 ms ++++++++++++++++++++++
mapping data assosiation time 22.649720 ms 
mapping solver time 24.920127 ms 
--------------------stamp1317357795.715462923
points size 96959 
map prepare time 3.085014 ms
map corner num 60793  surf num 22755 
sort q time 5.770961 
seperate points time 12.927114 
scan registration time 31.733122 ms *************
mapping data assosiation time 26.020851 ms mapping solver time 29.525949 ms 
--------------------stamp1317357795.819428920
points size 96931 
mapping data assosiation time 23.000650 ms 
prepare time 12.662342 
sort q time 5.499401 
seperate points time 12.093176 
mapping solver time 22.792623 ms 
mapping optimization time 119.763529 
add points time 0.691601 ms
map prepare time 2.828573 ms
map corner num 61304  surf num 22897 
build tree time 14.520072 ms 
mapping data assosiation time 18.398551 ms 
--------------------stamp1317357795.923394918
points size 95790 
sort q time 5.141606 
seperate points time 10.904785 
publication time 8.164574 ms 
whole laserOdometry time 8.185842 ms 
 
-----t: 0.0309731
OdomCount 327 & avg odom time 0.036148 ms ++++++++++++++++++++++
1317357795.923394918 WriteOdom laser_odom_to_init
1317357795.923394918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.697819 ms 
mapping optimization time 104.785963 
add points time 0.719773 ms
filter time 4.508139 ms 
map prepare time 2.082866 ms
map corner num 61862  surf num 23059 
build tree time 13.723503 ms 
mapping data assosiation time 20.568493 ms 
--------------------stamp1317357796.027363061
points size 94080 
mapping solver time 25.448571 ms 
scan registration time 25.499309 ms *************
mapping data assosiation time 23.974973 ms 
-----t: 0.0292015
OdomCount 328 & avg odom time 0.036127 ms ++++++++++++++++++++++
1317357796.027363061 WriteOdom laser_odom_to_init
1317357796.027363061 WriteOdom aft_mapped_to_init_high_frec
publication time 8.723278 ms 
whole laserOdometry time 8.741046 ms 
 
mapping solver time 16.320020 ms 
filter time 4.758377 ms 
[0m[ INFO] [1718889878.991552917, 1317357796.092160857]: Received 85558 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889878.991580777, 1317357796.092160857]: Data saved to 1317357795819428.pcd[0m
mapping pub time 3.166829 ms 
whole mapping time 112.031139 ms +++++
mappingCount 306 & avg mapping time 100.826717 ms ++++++++++++++++++++++
1317357795.819428921 WriteOdom aft_mapped_to_init
build tree time 12.743937 ms 
--------------------stamp1317357796.131330966
points size 93535 
prepare time 9.965121 
sort q time 4.788988 
seperate points time 10.813977 
scan registration time 26.503907 ms *************
publication time 8.569681 ms 
whole laserOdometry time 8.596366 ms 
 
-----t: 0.0350899
OdomCount 329 & avg odom time 0.036124 ms ++++++++++++++++++++++
1317357796.131330966 WriteOdom laser_odom_to_init
1317357796.131330966 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.801696 ms 
mapping solver time 20.960885 ms 
mapping pub time 2.170459 ms 
whole mapping time 118.954269 ms +++++
mappingCount 307 & avg mapping time 100.885814 ms ++++++++++++++++++++++
map prepare time 2.174550 ms
map corner num 62920  surf num 23380 
build tree time 13.707608 ms 
points size 94741 
mapping data assosiation time 25.052670 ms 
sort q time 5.791170 
seperate points time 13.287182 
scan registration time 35.594264 ms *************
-----t: 0.0445046
OdomCount 330 & avg odom time 0.036149 ms ++++++++++++++++++++++
mapping data assosiation time 21.627851 ms 
mapping solver time 18.692567 ms 
filter time 4.844765 ms 
map prepare time 2.715737 ms
map corner num 63420  surf num 23508 
points size 95440 
prepare time 14.301121 
sort q time 5.175993 
seperate points time 12.022569 
mapping data assosiation time 24.099603 ms 
mapping solver time 25.348079 ms 
mapping data assosiation time 23.140905 ms 
--------------------stamp1317357796.443192958
points size 96047 
mapping optimization time 116.393003 
add points time 0.714449 ms
mapping pub time 2.264413 ms 
whole mapping time 128.842137 ms +++++
mappingCount 309 & avg mapping time 101.037237 ms ++++++++++++++++++++++
1317357796.235272884 WriteOdom aft_mapped_to_init
sort q time 5.506302 
seperate points time 12.950127 
map prepare time 3.354871 ms
map corner num 63880  surf num 23650 
scan registration time 32.859412 ms *************
publication time 9.142964 ms 
whole laserOdometry time 9.160814 ms 
 
-----t: 0.0430604
OdomCount 332 & avg odom time 0.036318 ms ++++++++++++++++++++++
1317357796.443192958 WriteOdom laser_odom_to_init
1317357796.443192958 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.156742 ms 
--------------------stamp1317357796.547154903
points size 96503 
sort q time 5.252340 
seperate points time 12.283072 
mapping solver time 24.483076 ms 
filter time 6.205689 ms 
publication time 7.533909 ms 
whole laserOdometry time 7.549001 ms 
 
mapping pub time 2.376774 ms 
whole mapping time 119.488358 ms +++++
mappingCount 310 & avg mapping time 101.096773 ms ++++++++++++++++++++++
1317357796.339225054 WriteOdom aft_mapped_to_init
build tree time 12.532120 ms 
mapping data assosiation time 20.331140 ms 
--------------------stamp1317357796.651119947
points size 96458 
prepare time 13.467438 
sort q time 6.257349 
seperate points time 14.377293 
publication time 8.508812 ms 
whole laserOdometry time 8.527124 ms 
 
1317357796.651119947 WriteOdom laser_odom_to_init
1317357796.651119947 WriteOdom aft_mapped_to_init_high_frec
filter time 6.449943 ms 
[0m[ INFO] [1718889879.614173319, 1317357796.713460328]: Received 88844 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889879.614204620, 1317357796.713460328]: Data saved to 1317357796443192.pcd[0m
mapping pub time 3.360427 ms 
whole mapping time 121.158282 ms +++++
mappingCount 311 & avg mapping time 101.161294 ms ++++++++++++++++++++++
1317357796.443192959 WriteOdom aft_mapped_to_init
build tree time 14.219336 ms 
--------------------stamp1317357796.755091905
points size 95172 
sort q time 5.281787 
seperate points time 12.170927 
publication time 8.297322 ms 
whole laserOdometry time 8.310677 ms 
 
mapping solver time 16.446345 ms 
filter time 5.796000 ms 
map prepare time 2.310998 ms
map corner num 65297  surf num 24219 
--------------------stamp1317357796.859072923
points size 93763 
prepare time 11.913243 
mapping data assosiation time 23.366107 ms 
scan registration time 30.366698 ms *************
publication time 9.290576 ms 
whole laserOdometry time 9.318924 ms 
 
mapping solver time 28.501280 ms 
mapping data assosiation time 18.452233 ms 
mapping solver time 18.724507 ms 
mapping optimization time 105.380972 
add points time 0.646136 ms
map prepare time 2.236099 ms
map corner num 65825  surf num 24438 
points size 93495 
build tree time 18.152761 ms 
sort q time 6.496712 
seperate points time 14.323491 
scan registration time 35.382072 ms *************
mapping data assosiation time 24.700041 ms 
publication time 7.703437 ms 
whole laserOdometry time 7.717077 ms 
 
mapping solver time 26.546668 ms 
mapping data assosiation time 18.334195 ms 
--------------------stamp1317357797.067063093
mapping solver time 20.981088 ms 
mapping optimization time 109.974777 
add points time 0.766178 ms
prepare time 15.593260 
sort q time 5.381346 
seperate points time 12.516974 
build tree time 17.217487 ms 
publication time 7.619231 ms 
whole laserOdometry time 7.640105 ms 
 
-----t: 0.0458194
OdomCount 338 & avg odom time 0.036447 ms ++++++++++++++++++++++
mapping solver time 22.656984 ms 
mapping data assosiation time 19.316330 ms 
points size 95554 
prepare time 11.259087 
mapping solver time 22.195382 ms 
filter time 6.350530 ms 
scan registration time 28.731781 ms *************
mapping pub time 2.343964 ms 
whole mapping time 115.598494 ms +++++
mappingCount 315 & avg mapping time 101.372601 ms ++++++++++++++++++++++
1317357796.963066101 WriteOdom aft_mapped_to_init
publication time 6.975914 ms 
whole laserOdometry time 6.991641 ms 
 
build tree time 15.098279 ms 
mapping data assosiation time 18.980521 ms 
-----t: 0.0652443
OdomCount 339 & avg odom time 0.036532 ms ++++++++++++++++++++++
1317357797.171072006 WriteOdom laser_odom_to_init
1317357797.171072006 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.203516 ms 
--------------------stamp1317357797.275054931
points size 96182 
sort q time 5.144309 
seperate points time 11.852714 
mapping solver time 22.878975 ms 
mapping optimization time 103.536354 
add points time 0.764284 ms
-----t: 0.0273823
OdomCount 340 & avg odom time 0.036505 ms ++++++++++++++++++++++
1317357797.275054931 WriteOdom laser_odom_to_init
1317357797.275054931 WriteOdom aft_mapped_to_init_high_frec
publication time 6.222670 ms 
whole laserOdometry time 6.235126 ms 
 
build tree time 14.832714 ms 
mapping data assosiation time 19.458756 ms 
--------------------stamp1317357797.379026889
points size 96075 
mapping solver time 27.516750 ms 
prepare time 13.885988 
sort q time 5.050586 
seperate points time 11.456833 
mapping data assosiation time 22.879247 ms publication time 8.400350 ms 
whole laserOdometry time 8.413577 ms 
 
mapping solver time 24.661834 ms 
mapping optimization time 110.995543 
add points time 0.700538 ms
map prepare time 2.303079 ms
map corner num 67521  surf num 25011 
build tree time 15.077021 ms 
--------------------stamp1317357797.482997894
points size 95286 
mapping data assosiation time 20.973111 ms 
prepare time 11.149627 
sort q time 5.622585 
seperate points time 10.886217 
mapping solver time 24.397349 ms 
publication time 10.183814 ms mapping data assosiation time 25.158764 ms 
-----t: 0.0515171
OdomCount 342 & avg odom time 0.036635 ms ++++++++++++++++++++++
1317357797.482997894 WriteOdom laser_odom_to_init
1317357797.482997894 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.570210 ms 
filter time 6.781459 ms 
mapping pub time 2.265687 ms 
whole mapping time 119.509216 ms +++++
mappingCount 318 & avg mapping time 101.549418 ms ++++++++++++++++++++++
1317357797.275054932 WriteOdom aft_mapped_to_init
--------------------stamp1317357797.586985111
points size 94992 
sort q time 5.398797 
seperate points time 11.794403 
mapping data assosiation time 24.307407 ms 
publication time 7.532572 ms 
whole laserOdometry time 7.543812 ms 
 
-----t: 0.0425713
OdomCount 343 & avg odom time 0.036653 ms ++++++++++++++++++++++
mapping data assosiation time 21.219889 ms 
mapping solver time 13.522500 ms 
mapping optimization time 104.460386 
add points time 0.735539 ms
map prepare time 2.465073 ms
map corner num 68599  surf num 25575 
prepare time 13.690834 
build tree time 16.284444 ms 
scan registration time 31.011029 ms *************
mapping data assosiation time 22.386776 ms 
mapping solver time 20.081774 ms 
mapping data assosiation time 20.684616 ms 
mapping solver time 15.017483 ms 
filter time 6.884232 ms 
mapping pub time 2.266749 ms 
whole mapping time 108.427197 ms +++++
mappingCount 320 & avg mapping time 101.615597 ms ++++++++++++++++++++++
1317357797.586985111 WriteOdom aft_mapped_to_init
prepare time 16.760471 
build tree time 16.608628 ms 
sort q time 5.104411 
seperate points time 11.796846 
publication time 8.008765 ms 
whole laserOdometry time 8.044774 ms 
 
mapping data assosiation time 25.935638 ms 
-----t: 0.0408515
OdomCount 345 & avg odom time 0.036650 ms ++++++++++++++++++++++
1317357797.794898033 WriteOdom laser_odom_to_init
1317357797.794898033 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.678237 ms 
mapping data assosiation time 18.464759 ms 
points size 95710 
mapping solver time 22.434826 ms 
filter time 6.730617 ms 
map prepare time 3.068598 ms
map corner num 69640  surf num 26050 
publication time 8.608597 ms 
whole laserOdometry time 8.621174 ms 
 
build tree time 17.948769 ms 
1317357797.898840904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.374131 ms 
mapping solver time 20.766364 ms 
points size 95676 
prepare time 10.227126 
mapping data assosiation time 24.599581 ms 
publication time 7.591491 ms 
whole laserOdometry time 7.606791 ms 
 
filter time 6.893323 ms 
map prepare time 2.452153 ms
map corner num 70125  surf num 26243 
build tree time 13.475042 ms 
mapping data assosiation time 19.579208 ms 
--------------------stamp1317357798.106720924
points size 95380 
sort q time 5.887936 
seperate points time 12.195172 
scan registration time 27.504590 ms *************
mapping data assosiation time 24.842351 ms 
publication time 10.563332 ms 
whole laserOdometry time 10.576489 ms 
 
mapping solver time 24.067536 ms 
mapping optimization time 108.487702 
add points time 0.798098 ms
filter time 5.477377 ms 
map prepare time 2.489946 ms
map corner num 70583  surf num 26424 
build tree time 14.881043 ms 
--------------------stamp1317357798.210640907
mapping data assosiation time 24.417927 ms 
prepare time 13.919351 
sort q time 5.527935 
seperate points time 12.804398 
mapping solver time 26.751604 ms 
scan registration time 33.030592 ms *************
publication time 7.587802 ms 
whole laserOdometry time 7.601970 ms 
 
mapping data assosiation time 24.375377 ms 
-----t: 0.051595
OdomCount 349 & avg odom time 0.036738 ms ++++++++++++++++++++++
1317357798.210640907 WriteOdom laser_odom_to_init
1317357798.210640907 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.460531 ms 
filter time 5.157253 ms 
mapping pub time 2.206356 ms 
whole mapping time 120.999299 ms +++++
mappingCount 324 & avg mapping time 101.870625 ms ++++++++++++++++++++++
1317357798.106720924 WriteOdom aft_mapped_to_init
--------------------stamp1317357798.314558982
build tree time 16.897967 ms 
prepare time 15.625818 
sort q time 6.252008 
seperate points time 14.749486 
mapping data assosiation time 29.312249 ms 
-----t: 0.0331795
OdomCount 350 & avg odom time 0.036728 ms ++++++++++++++++++++++
mapping solver time 24.656132 ms 
mapping data assosiation time 22.552716 ms 
mapping solver time 18.326200 ms 
points size 95716 
filter time 7.674690 ms 
prepare time 13.331658 
mapping pub time 2.372101 ms 
whole mapping time 127.246537 ms +++++
mappingCount 325 & avg mapping time 101.948730 ms ++++++++++++++++++++++
1317357798.210640907 WriteOdom aft_mapped_to_init
map prepare time 3.343867 ms
map corner num 71685  surf num 26934 
publication time 7.183705 ms 
whole laserOdometry time 7.196319 ms 
 
build tree time 33.685372 ms 
-----t: 0.0537053
OdomCount 351 & avg odom time 0.036776 ms ++++++++++++++++++++++
1317357798.418453931 WriteOdom laser_odom_to_init
1317357798.418453931 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.505773 ms 
mapping solver time 23.317912 ms 
points size 95632 
sort q time 6.211512 
seperate points time 11.644212 
publication time 7.967804 ms 
whole laserOdometry time 7.981370 ms 
 
mapping solver time 21.981691 ms 
mapping optimization time 133.981555 
add points time 0.896682 ms
filter time 7.147054 ms 
[0m[ INFO] [1718889881.481229883, 1317357798.577713916]: Received 99394 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889881.481361085, 1317357798.577713916]: Data saved to 1317357798314558.pcd[0m
mapping pub time 3.456322 ms 
whole mapping time 148.892870 ms +++++
mappingCount 326 & avg mapping time 102.092741 ms ++++++++++++++++++++++
1317357798.314558983 WriteOdom aft_mapped_to_init
1317357798.522350072 WriteOdom aft_mapped_to_init_high_frec
build tree time 16.639993 ms 
--------------------stamp1317357798.626267910
points size 95666 
sort q time 5.197497 
seperate points time 12.105559 
mapping solver time 32.462067 ms 
publication time 11.514300 ms 
mapping data assosiation time 27.449547 ms 
-----t: 0.0482746
OdomCount 353 & avg odom time 0.036845 ms ++++++++++++++++++++++
1317357798.626267910 WriteOdom laser_odom_to_init
1317357798.626267910 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.584174 ms 
filter time 6.221823 ms 
map prepare time 2.846720 ms
map corner num 72691  surf num 27361 
points size 95651 
prepare time 13.113717 
build tree time 15.967601 ms 
sort q time 5.380219 
seperate points time 12.384871 
mapping data assosiation time 27.328628 ms 
-----t: 0.0398565
OdomCount 354 & avg odom time 0.036854 ms ++++++++++++++++++++++
publication time 11.338871 ms 
whole laserOdometry time 11.347476 ms 
 
mapping solver time 29.418732 ms 
mapping data assosiation time 29.102281 ms 
points size 95905 
mapping solver time 23.924793 ms 
scan registration time 31.208070 ms *************
1317357798.626267910 WriteOdom aft_mapped_to_init
publication time 7.680325 ms 
whole laserOdometry time 7.696835 ms 
 
-----t: 0.0585722
OdomCount 355 & avg odom time 0.036915 ms ++++++++++++++++++++++
mapping data assosiation time 28.413524 ms 
--------------------stamp1317357798.938024997
points size 96420 
sort q time 5.694332 
seperate points time 12.423233 
mapping data assosiation time 27.893581 ms 
publication time 7.844807 ms 
whole laserOdometry time 7.860938 ms 
 
1317357798.938024997 WriteOdom laser_odom_to_init
1317357798.938024997 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.471561 ms 
filter time 5.791386 ms 
map prepare time 2.756288 ms
map corner num 73627  surf num 27787 
--------------------stamp1317357799.041944026
points size 97460 
mapping data assosiation time 23.170103 ms 
prepare time 12.834781 
sort q time 5.298326 
seperate points time 12.278624 
mapping solver time 29.339509 ms 
publication time 9.665856 ms 
whole laserOdometry time 9.677738 ms 
 
-----t: 0.0343123
OdomCount 357 & avg odom time 0.036914 ms ++++++++++++++++++++++
1317357799.041944026 WriteOdom laser_odom_to_init
1317357799.041944026 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.478618 ms 
mapping solver time 16.899071 ms 
mapping optimization time 110.554861 
add points time 0.824044 ms
mapping pub time 2.269565 ms 
whole mapping time 121.936925 ms +++++
mappingCount 330 & avg mapping time 102.483902 ms ++++++++++++++++++++++
1317357798.834106922 WriteOdom aft_mapped_to_init
map prepare time 2.543687 ms
map corner num 74025  surf num 27966 
--------------------stamp1317357799.145862102
build tree time 18.643699 ms 
prepare time 16.492131 
sort q time 5.542221 
seperate points time 12.782775 
mapping data assosiation time 27.157540 ms 
publication time 9.311826 ms 
whole laserOdometry time 9.354269 ms 
 
1317357799.145862102 WriteOdom laser_odom_to_init
1317357799.145862102 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.956191 ms 
--------------------stamp1317357799.249754905
mapping solver time 18.680294 ms 
filter time 5.587963 ms 
map prepare time 3.204983 ms
map corner num 74541  surf num 28221 
sort q time 5.786526 
seperate points time 12.727518 
build tree time 19.887796 ms 
publication time 9.235123 ms 
whole laserOdometry time 9.248753 ms 
 
mapping data assosiation time 29.244466 ms 
--------------------stamp1317357799.353626012
mapping solver time 32.086268 ms 
points size 101216 
sort q time 5.803696 
seperate points time 13.835794 
mapping data assosiation time 28.574810 ms 
scan registration time 31.231811 ms *************
publication time 9.542533 ms 
whole laserOdometry time 9.573525 ms 
 
-----t: 0.044275
OdomCount 360 & avg odom time 0.036964 ms ++++++++++++++++++++++
1317357799.353626012 WriteOdom laser_odom_to_init
1317357799.353626012 WriteOdom aft_mapped_to_init_high_frec
filter time 6.837308 ms 
mapping pub time 2.181668 ms 
whole mapping time 146.856126 ms +++++
mappingCount 332 & avg mapping time 102.705576 ms ++++++++++++++++++++++
1317357799.145862103 WriteOdom aft_mapped_to_init
map prepare time 2.751818 ms
map corner num 75001  surf num 28454 
build tree time 13.726037 ms 
--------------------stamp1317357799.457499027
points size 102108 
sort q time 6.157774 
seperate points time 14.441325 
scan registration time 33.714239 ms *************
publication time 9.012013 ms 
whole laserOdometry time 9.022539 ms 
 
mapping data assosiation time 27.844383 ms 
mapping solver time 16.294796 ms 
-----t: 0.0697976
OdomCount 361 & avg odom time 0.037055 ms ++++++++++++++++++++++
1317357799.457499027 WriteOdom laser_odom_to_init
1317357799.457499027 WriteOdom aft_mapped_to_init_high_frec
filter time 7.907432 ms 
mapping pub time 2.271394 ms 
whole mapping time 127.881166 ms +++++
mappingCount 333 & avg mapping time 102.781196 ms ++++++++++++++++++++++
1317357799.249754906 WriteOdom aft_mapped_to_init
--------------------stamp1317357799.561346054
build tree time 19.557971 ms 
points size 102750 
prepare time 15.233773 
sort q time 7.160985 
seperate points time 16.738441 
mapping data assosiation time 30.855984 ms 
publication time 9.698941 ms 
whole laserOdometry time 9.711711 ms 
 
-----t: 0.0556911
OdomCount 362 & avg odom time 0.037107 ms ++++++++++++++++++++++
1317357799.561346054 WriteOdom laser_odom_to_init
1317357799.561346054 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.365956 ms 
points size 103030 
mapping solver time 31.188025 ms 
sort q time 5.832949 
seperate points time 13.936780 
mapping optimization time 141.135002 
add points time 1.149919 ms
scan registration time 31.182580 ms *************
mapping pub time 2.495831 ms 
whole mapping time 155.358966 ms +++++
mappingCount 334 & avg mapping time 102.938671 ms ++++++++++++++++++++++
map prepare time 3.340643 ms
map corner num 75869  surf num 28819 
publication time 9.608359 ms 
whole laserOdometry time 9.627412 ms 
 
mapping data assosiation time 22.112466 ms 
mapping solver time 25.859439 ms 
sort q time 5.819028 
seperate points time 13.690649 
mapping data assosiation time 27.710438 ms 
publication time 11.138425 ms 
whole laserOdometry time 11.161855 ms 
 
-----t: 0.0414665
OdomCount 364 & avg odom time 0.037125 ms ++++++++++++++++++++++
1317357799.768974065 WriteOdom laser_odom_to_init
filter time 6.814588 ms 
map prepare time 2.617397 ms
map corner num 76273  surf num 29027 
build tree time 15.346433 ms 
--------------------stamp1317357799.872764110
points size 103151 
sort q time 6.331143 
seperate points time 12.826068 
scan registration time 32.078866 ms *************
mapping solver time 31.689237 ms 
-----t: 0.0381005
OdomCount 365 & avg odom time 0.037128 ms ++++++++++++++++++++++
mapping data assosiation time 25.297192 ms 
mapping solver time 24.272346 ms 
filter time 5.663945 ms 
points size 103062 
sort q time 6.757488 
seperate points time 13.128692 
publication time 7.777158 ms 
whole laserOdometry time 7.792102 ms 
 
mapping data assosiation time 28.447775 ms 
-----t: 0.0452388
OdomCount 366 & avg odom time 0.037150 ms ++++++++++++++++++++++
1317357799.976543903 WriteOdom laser_odom_to_init
1317357799.976543903 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.524975 ms 
--------------------stamp1317357800.080296039
points size 103099 
prepare time 14.835824 
mapping solver time 21.982250 ms 
filter time 7.941457 ms 
map prepare time 3.357380 ms
map corner num 77037  surf num 29402 
publication time 10.058162 ms 
whole laserOdometry time 10.089484 ms 
 
mapping data assosiation time 23.592079 ms 
--------------------stamp1317357800.184072017
points size 102996 
sort q time 6.713382 
seperate points time 13.272691 
publication time 8.348145 ms 
whole laserOdometry time 8.375168 ms 
 
mapping data assosiation time 29.526581 ms 
-----t: 0.0513696
OdomCount 368 & avg odom time 0.037206 ms ++++++++++++++++++++++
1317357800.184072017 WriteOdom laser_odom_to_init
1317357800.184072017 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.790387 ms 
filter time 5.776889 ms 
mapping pub time 2.475147 ms 
whole mapping time 153.522167 ms +++++
mappingCount 338 & avg mapping time 103.378220 ms ++++++++++++++++++++++
1317357799.976543903 WriteOdom aft_mapped_to_init
--------------------stamp1317357800.287847042
build tree time 17.935604 ms 
points size 102934 
prepare time 16.359440 
sort q time 5.691114 
seperate points time 13.681190 
mapping data assosiation time 29.642945 ms 
publication time 10.322492 ms 
whole laserOdometry time 10.337977 ms 
 
-----t: 0.0473735
OdomCount 369 & avg odom time 0.037234 ms ++++++++++++++++++++++
1317357800.287847042 WriteOdom laser_odom_to_init
1317357800.287847042 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.429191 ms 
mapping data assosiation time 22.855671 ms 
--------------------stamp1317357800.391616106
points size 103001 
filter time 6.421721 ms 
mapping pub time 2.415345 ms 
whole mapping time 135.698969 ms +++++
mappingCount 339 & avg mapping time 103.473578 ms ++++++++++++++++++++++
1317357800.080296040 WriteOdom aft_mapped_to_init
scan registration time 34.654669 ms *************
-----t: 0.0401344
OdomCount 370 & avg odom time 0.037242 ms ++++++++++++++++++++++
1317357800.391616106 WriteOdom laser_odom_to_init
1317357800.391616106 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.270104 ms 
--------------------stamp1317357800.495394945
points size 103064 
mapping data assosiation time 27.157333 ms 
sort q time 5.680923 
seperate points time 13.653552 
mapping optimization time 128.847404 
add points time 1.022307 ms
1317357800.495394945 WriteOdom laser_odom_to_init
1317357800.495394945 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.491320 ms 
whole mapping time 142.819344 ms +++++
mappingCount 340 & avg mapping time 103.589352 ms ++++++++++++++++++++++
1317357800.287847042 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.916715 ms
map corner num 78209  surf num 29916 
build tree time 17.316259 ms 
--------------------stamp1317357800.599143981
mapping data assosiation time 23.859359 ms 
sort q time 7.006888 
seperate points time 13.300420 
scan registration time 29.065657 ms *************
mapping solver time 34.174186 ms 
publication time 11.336501 ms 
whole laserOdometry time 11.354603 ms 
 
-----t: 0.0533125
OdomCount 372 & avg odom time 0.037299 ms ++++++++++++++++++++++
mapping solver time 19.145602 ms 
mapping optimization time 125.176133 
add points time 0.899850 ms
filter time 5.539025 ms 
--------------------stamp1317357800.702893018
map prepare time 3.600215 ms
map corner num 78556  surf num 30058 
prepare time 17.054253 
build tree time 21.878636 ms 
sort q time 6.191157 
seperate points time 14.803472 
mapping data assosiation time 28.439689 ms 
-----t: 0.0511971
OdomCount 373 & avg odom time 0.037336 ms ++++++++++++++++++++++
1317357800.702893018 WriteOdom laser_odom_to_init
1317357800.702893018 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.367811 ms 
--------------------stamp1317357800.806643009
mapping data assosiation time 26.905395 ms 
prepare time 17.945675 
sort q time 5.920506 
seperate points time 14.303509 
mapping solver time 26.174226 ms 
scan registration time 36.868440 ms *************
mapping optimization time 130.866517 
add points time 0.820775 ms
mapping pub time 2.745405 ms 
whole mapping time 144.365967 ms +++++
mappingCount 342 & avg mapping time 103.828409 ms ++++++++++++++++++++++
map prepare time 3.520253 ms
map corner num 78940  surf num 30238 
publication time 9.570664 ms 
whole laserOdometry time 9.583875 ms build tree time 20.713344 ms 
mapping data assosiation time 22.370074 ms 
points size 103273 
prepare time 15.047588 
mapping solver time 32.383710 ms 
publication time 9.623175 ms 
whole laserOdometry time 9.635720 ms 
 
-----t: 0.0534949
OdomCount 375 & avg odom time 0.037423 ms ++++++++++++++++++++++
1317357800.910392045 WriteOdom laser_odom_to_init
1317357800.910392045 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.781361 ms 
mapping optimization time 128.119620 
add points time 0.774278 ms
drop lidar frame in mapping for real time performance 
map prepare time 2.667283 ms
map corner num 79267  surf num 30343 
--------------------stamp1317357801.014142036
build tree time 18.741073 ms 
points size 103225 
prepare time 11.943579 
sort q time 6.299245 
seperate points time 13.670375 
scan registration time 30.322071 ms *************
publication time 10.448686 ms 
whole laserOdometry time 10.465468 ms 
 
-----t: 0.0411722
OdomCount 376 & avg odom time 0.037433 ms ++++++++++++++++++++++
1317357801.014142036 WriteOdom laser_odom_to_init
1317357801.014142036 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.613410 ms 
--------------------stamp1317357801.117892026
points size 103209 
mapping pub time 2.579282 ms 
whole mapping time 132.301605 ms +++++
mappingCount 344 & avg mapping time 104.016904 ms ++++++++++++++++++++++
map prepare time 3.269448 ms
map corner num 79582  surf num 30465 
sort q time 6.689579 
seperate points time 13.574164 
scan registration time 29.819770 ms *************
build tree time 20.213349 ms 
publication time 11.053846 ms 
whole laserOdometry time 11.070755 ms 
 
-----t: 0.0408563
OdomCount 377 & avg odom time 0.037442 ms ++++++++++++++++++++++
1317357801.117892026 WriteOdom laser_odom_to_init
1317357801.117892026 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.414605 ms 
mapping solver time 30.445389 ms 
points size 103110 
mapping data assosiation time 26.704504 ms 
sort q time 5.713134 
seperate points time 13.814102 
mapping solver time 27.836026 ms 
filter time 7.872202 ms 
map prepare time 2.742485 ms
map corner num 80009  surf num 30689 
build tree time 17.182119 ms 
--------------------stamp1317357801.325465917
points size 103130 
mapping data assosiation time 28.021679 ms 
sort q time 5.902536 
seperate points time 14.195374 
mapping solver time 30.929745 ms 
publication time 9.310382 ms 
whole laserOdometry time 9.326985 ms 
 
-----t: 0.0436087
OdomCount 379 & avg odom time 0.037457 ms ++++++++++++++++++++++
mapping data assosiation time 26.535151 ms 
mapping solver time 18.501884 ms 
filter time 6.677469 ms 
--------------------stamp1317357801.429313898
points size 103065 
build tree time 19.270179 ms 
sort q time 6.035263 
seperate points time 13.824628 
mapping data assosiation time 25.288765 ms 
publication time 8.702910 ms 
whole laserOdometry time 8.726308 ms 
 
mapping solver time 37.892859 ms 
--------------------stamp1317357801.533207893
points size 102973 
mapping data assosiation time 28.585781 ms 
prepare time 12.336808 
sort q time 6.658073 
seperate points time 12.992318 
scan registration time 29.533279 ms *************
mapping pub time 2.569076 ms 
whole mapping time 151.833078 ms +++++
mappingCount 347 & avg mapping time 104.378741 ms ++++++++++++++++++++++
1317357801.325465918 WriteOdom aft_mapped_to_init
publication time 11.108340 ms 
whole laserOdometry time 11.117974 ms 
 
drop lidar frame in mapping for real time performance 
map prepare time 3.237356 ms
map corner num 80739  surf num 30989 
build tree time 18.935637 ms 
--------------------stamp1317357801.637125968
points size 102865 
mapping solver time 27.445046 ms 
sort q time 6.606143 
seperate points time 12.937900 
mapping data assosiation time 30.236334 ms 
-----t: 0.0527032
OdomCount 382 & avg odom time 0.037571 ms ++++++++++++++++++++++
mapping solver time 25.723027 ms 
mapping pub time 2.341384 ms 
whole mapping time 140.729057 ms +++++
mappingCount 348 & avg mapping time 104.483206 ms ++++++++++++++++++++++
--------------------stamp1317357801.741045951
points size 102771 
mapping data assosiation time 25.469230 ms 
publication time 11.097892 ms 
whole laserOdometry time 11.113594 ms 
 
mapping solver time 37.738278 ms 
mapping data assosiation time 28.697424 ms 
--------------------stamp1317357801.844964981
points size 100562 
mapping solver time 29.824065 ms 
mapping optimization time 140.529872 
add points time 0.899719 ms
sort q time 5.745826 
seperate points time 13.746790 
scan registration time 30.168521 ms *************
map prepare time 3.110096 ms
map corner num 81659  surf num 31340 
publication time 16.930335 ms 
whole laserOdometry time 16.945804 ms 
 
build tree time 19.356807 ms 
mapping data assosiation time 22.755394 ms 
--------------------stamp1317357801.948882102
mapping solver time 27.088624 ms 
prepare time 16.584092 
sort q time 6.558362 
seperate points time 15.661844 
scan registration time 37.293299 ms *************
-----t: 0.0343794
OdomCount 385 & avg odom time 0.037564 ms ++++++++++++++++++++++
mapping optimization time 116.601445 
filter time 6.119232 ms 
mapping pub time 2.440532 ms 
whole mapping time 129.175110 ms +++++
mappingCount 350 & avg mapping time 104.699298 ms ++++++++++++++++++++++
1317357801.741045952 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 17.458401 ms 
--------------------stamp1317357802.052824974
mapping data assosiation time 26.604431 ms 
sort q time 4.804465 
seperate points time 10.652856 
scan registration time 29.142524 ms *************
mapping solver time 31.070955 ms 
-----t: 0.0371896
OdomCount 386 & avg odom time 0.037563 ms ++++++++++++++++++++++
mapping data assosiation time 25.912427 ms 
mapping solver time 19.674500 ms 
mapping optimization time 122.442513 
add points time 0.844094 ms
[0m[ INFO] [1718889885.048713969, 1317357802.149662955]: Received 114137 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889885.048757678, 1317357802.149662955]: Data saved to 1317357801844964.pcd[0m
map prepare time 2.539231 ms
map corner num 82482  surf num 31655 
points size 98148 
prepare time 15.687679 
sort q time 6.055049 
seperate points time 18.475392 
publication time 9.804178 ms 
whole laserOdometry time 9.815926 ms 
 
mapping solver time 31.400618 ms 
--------------------stamp1317357802.260688066
filter time 9.277326 ms 
-----t: 0.0496305
OdomCount 388 & avg odom time 0.037601 ms ++++++++++++++++++++++
--------------------stamp1317357802.364604949
points size 97644 
sort q time 5.371367 
seperate points time 12.483105 
mapping solver time 41.199721 ms 
mapping data assosiation time 29.101917 ms 
mapping solver time 19.920692 ms 
mapping optimization time 148.225823 
add points time 0.806408 ms
map prepare time 3.514596 ms
map corner num 83520  surf num 31979 
points size 96471 
build tree time 23.810591 ms 
mapping data assosiation time 29.943333 ms 
publication time 11.728348 ms 
whole laserOdometry time 11.742229 ms 
 
-----t: 0.0682317
OdomCount 390 & avg odom time 0.037803 ms ++++++++++++++++++++++
--------------------stamp1317357802.572515964
mapping data assosiation time 26.773911 ms 
sort q time 5.163810 
seperate points time 11.733126 
mapping optimization time 132.558552 
add points time 0.897788 ms
filter time 5.979225 ms 
map prepare time 3.540805 ms
map corner num 83988  surf num 32127 
build tree time 18.250743 ms 
mapping data assosiation time 22.338497 ms 
--------------------stamp1317357802.676481962
points size 90617 
mapping solver time 35.003987 ms 
sort q time 5.011110 
seperate points time 11.730721 
scan registration time 30.863494 ms *************
publication time 9.381080 ms -----t: 0.0411562
OdomCount 392 & avg odom time 0.037806 ms ++++++++++++++++++++++
1317357802.676481962 WriteOdom laser_odom_to_init
1317357802.676481962 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.412549 ms 
filter time 7.178632 ms 
map prepare time 2.727746 ms
map corner num 84590  surf num 32362 
--------------------stamp1317357802.780472993
points size 88906 
prepare time 11.865830 
sort q time 5.575902 
seperate points time 12.778655 
scan registration time 29.621192 ms *************
mapping data assosiation time 25.372368 ms 
-----t: 0.029117
OdomCount 393 & avg odom time 0.037784 ms ++++++++++++++++++++++
mapping solver time 30.820262 ms 
mapping data assosiation time 21.041348 ms 
--------------------stamp1317357802.884464025
points size 85761 
scan registration time 26.518395 ms *************
mapping pub time 4.390560 ms 
whole mapping time 141.860222 ms +++++
mappingCount 356 & avg mapping time 105.412296 ms ++++++++++++++++++++++
[0m[ INFO] [1718889885.811930490, 1317357802.914529258]: Received 117538 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889885.811989349, 1317357802.914529258]: Data saved to 1317357802572515.pcd[0m
1317357802.572515965 WriteOdom aft_mapped_to_init
build tree time 18.927092 ms 
mapping data assosiation time 20.236677 ms 
mapping solver time 26.116464 ms 
points size 83489 
mapping data assosiation time 22.843418 ms 
sort q time 4.593616 
seperate points time 10.327433 
scan registration time 26.864298 ms *************
publication time 5.886593 ms 
whole laserOdometry time 5.898000 ms 
 
mapping solver time 27.310403 ms 
mapping optimization time 116.708901 
add points time 0.728277 ms
filter time 14.391930 ms 
mapping pub time 2.371940 ms 
whole mapping time 137.069892 ms +++++
mappingCount 357 & avg mapping time 105.500994 ms ++++++++++++++++++++++
1317357802.780472994 WriteOdom aft_mapped_to_init
-----t: 0.0537179
OdomCount 395 & avg odom time 0.037839 ms ++++++++++++++++++++++
1317357802.988429069 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317357802.988429069 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.754710 ms 
--------------------stamp1317357803.092396020
mapping data assosiation time 22.614053 ms 
points size 82821 
prepare time 10.872294 
sort q time 4.277468 
seperate points time 9.828516 
mapping solver time 25.739621 ms 
publication time 9.417483 ms 
whole laserOdometry time 9.432662 ms 
 
-----t: 0.0398229
OdomCount 396 & avg odom time 0.037844 ms ++++++++++++++++++++++
mapping data assosiation time 24.412587 ms 
mapping solver time 15.827762 ms 
filter time 6.384704 ms 
map prepare time 2.036909 ms
map corner num 85923  surf num 32720 
--------------------stamp1317357803.196362972
prepare time 10.083247 
sort q time 4.853078 
seperate points time 10.432666 
publication time 6.977852 ms 
whole laserOdometry time 6.991172 ms 
 
-----t: 0.0328757
OdomCount 397 & avg odom time 0.037831 ms ++++++++++++++++++++++
mapping data assosiation time 20.441436 ms 
mapping solver time 15.651759 ms 
filter time 6.986615 ms 
points size 83083 
prepare time 12.151384 
scan registration time 30.742130 ms *************
mapping data assosiation time 22.355025 ms 
mapping solver time 20.550116 ms 
mapping data assosiation time 18.772057 ms 
mapping solver time 15.070061 ms 
mapping pub time 2.008601 ms 
whole mapping time 110.692424 ms +++++
mappingCount 360 & avg mapping time 105.595048 ms ++++++++++++++++++++++
1317357803.196362972 WriteOdom aft_mapped_to_init
points size 82166 
prepare time 9.542885 
map prepare time 3.010828 ms
map corner num 86730  surf num 32936 
sort q time 4.693156 
seperate points time 9.881059 
build tree time 20.589199 ms 
publication time 8.063871 ms 
whole laserOdometry time 8.079030 ms 
 
mapping data assosiation time 21.406256 ms 
-----t: 0.0507331
OdomCount 399 & avg odom time 0.037839 ms ++++++++++++++++++++++
1317357803.404223918 WriteOdom laser_odom_to_init
1317357803.404223918 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.279334 ms 
--------------------stamp1317357803.508145093
points size 80408 
sort q time 5.632627 
seperate points time 10.596714 
[0m[ INFO] [1718889886.430968092, 1317357803.531178494]: Received 120104 data points in frame camera_init with the following fields: x y z intensity[0m
map prepare time 2.796727 ms
map corner num 87077  surf num 33027 
build tree time 19.605879 ms 
mapping data assosiation time 17.614321 ms 
mapping solver time 22.498402 ms 
--------------------stamp1317357803.612063884
points size 79683 
prepare time 13.321607 
sort q time 4.558155 
seperate points time 10.622123 
scan registration time 27.878931 ms *************
mapping solver time 18.588270 ms 
mapping optimization time 101.694570 
add points time 0.700755 ms
publication time 8.748986 ms 
whole laserOdometry time 8.762427 ms 
 
filter time 7.612691 ms 
-----t: 0.0484389
OdomCount 401 & avg odom time 0.037851 ms ++++++++++++++++++++++
1317357803.612063884 WriteOdom laser_odom_to_init
1317357803.612063884 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.344087 ms 
mapping data assosiation time 19.651004 ms 
--------------------stamp1317357803.715982913
points size 80368 
scan registration time 25.488389 ms *************
mapping data assosiation time 20.431221 ms 
publication time 5.743980 ms 
whole laserOdometry time 5.757945 ms 
 
mapping solver time 21.421060 ms 
mapping optimization time 107.872564 
add points time 0.667170 ms
-----t: 0.046016
OdomCount 402 & avg odom time 0.037871 ms ++++++++++++++++++++++
map prepare time 2.052846 ms
map corner num 87791  surf num 33287 
build tree time 19.049470 ms 
--------------------stamp1317357803.819924116
points size 83284 
prepare time 14.650996 
sort q time 4.674330 
seperate points time 10.749865 
mapping solver time 28.690434 ms 
publication time 7.762750 ms 
whole laserOdometry time 7.775026 ms 
 
-----t: 0.0347649
OdomCount 403 & avg odom time 0.037863 ms ++++++++++++++++++++++
1317357803.819924116 WriteOdom laser_odom_to_init
1317357803.819924116 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.894336 ms 
mapping optimization time 101.891714 
add points time 0.730721 ms
--------------------stamp1317357803.923866987
points size 88038 
prepare time 10.993632 
sort q time 4.780345 
seperate points time 10.705262 
scan registration time 26.621742 ms *************
mapping solver time 18.449924 ms 
1317357803.923866987 WriteOdom laser_odom_to_init
1317357803.923866987 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.583793 ms 
mapping solver time 12.767735 ms 
mapping optimization time 89.448064 
add points time 0.695827 ms
1317357803.819924116 WriteOdom aft_mapped_to_init
map prepare time 2.012530 ms
map corner num 88541  surf num 33531 
build tree time 20.521351 ms 
points size 91575 
mapping data assosiation time 19.162043 ms 
publication time 6.369337 ms 
whole laserOdometry time 6.436693 ms 
 
mapping data assosiation time 18.491341 ms 
mapping solver time 13.573406 ms 
filter time 5.950665 ms 
[0m[ INFO] [1718889887.012673894, 1317357804.110069712]: Received 122558 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889887.012723747, 1317357804.110069712]: Data saved to 1317357803923866.pcd[0m
mapping pub time 3.535537 ms 
whole mapping time 110.423858 ms +++++
mappingCount 366 & avg mapping time 105.739917 ms ++++++++++++++++++++++
1317357803.923866987 WriteOdom aft_mapped_to_init
--------------------stamp1317357804.131681919
points size 92422 
prepare time 12.678402 
build tree time 24.332894 ms 
sort q time 5.008676 
seperate points time 11.308527 
mapping data assosiation time 20.983191 ms 
-----t: 0.0320331
OdomCount 406 & avg odom time 0.037804 ms ++++++++++++++++++++++
mapping data assosiation time 21.125450 ms 
mapping solver time 22.512756 ms 
filter time 9.107339 ms 
map prepare time 3.268967 ms
map corner num 89277  surf num 33772 
sort q time 5.171522 
seperate points time 11.950825 
build tree time 23.834919 ms 
publication time 8.712130 ms 
whole laserOdometry time 8.727823 ms 
 
mapping solver time 27.384818 ms 
--------------------stamp1317357804.339421033
mapping data assosiation time 23.004398 ms 
mapping solver time 17.700371 ms 
filter time 8.801929 ms 
map prepare time 2.983086 ms
map corner num 89624  surf num 33882 
publication time 7.635591 ms 
whole laserOdometry time 7.649425 ms 
 
-----t: 0.0577749
OdomCount 408 & avg odom time 0.037877 ms ++++++++++++++++++++++
1317357804.339421033 WriteOdom laser_odom_to_init
--------------------stamp1317357804.443291902
mapping solver time 21.358039 ms 
mapping data assosiation time 20.026067 ms 
mapping solver time 16.890032 ms 
mapping optimization time 107.137875 
add points time 0.743056 ms
map prepare time 2.215307 ms
map corner num 90034  surf num 34019 
-----t: 0.0647491
OdomCount 409 & avg odom time 0.037943 ms ++++++++++++++++++++++
1317357804.443291902 WriteOdom laser_odom_to_init
1317357804.443291902 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357804.547175884
points size 93138 
sort q time 6.146024 
seperate points time 11.452209 
-----t: 0.0280059
OdomCount 410 & avg odom time 0.037919 ms ++++++++++++++++++++++
publication time 6.765483 ms 
whole laserOdometry time 6.775941 ms 
 
1317357804.547175884 WriteOdom laser_odom_to_init
1317357804.547175884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.042550 ms 
mapping solver time 22.099855 ms 
mapping optimization time 122.054671 
add points time 0.737001 ms
filter time 5.935139 ms 
--------------------stamp1317357804.651024103
points size 94201 
build tree time 20.184428 ms 
prepare time 12.874575 
sort q time 5.276912 
seperate points time 11.426095 
publication time 8.105217 ms 
whole laserOdometry time 8.135620 ms 
 
mapping solver time 22.746484 ms 
mapping data assosiation time 21.228585 ms 
-----t: 0.0764791
OdomCount 411 & avg odom time 0.038013 ms ++++++++++++++++++++++
1317357804.651024103 WriteOdom laser_odom_to_init
1317357804.651024103 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.759386 ms 
mapping optimization time 101.897732 
filter time 6.257486 ms 
[0m[ INFO] [1718889887.660001149, 1317357804.762403027]: Received 125228 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889887.660082948, 1317357804.762403027]: Data saved to 1317357804443291.pcd[0m
sort q time 5.663319 
seperate points time 11.224299 
publication time 9.001759 ms 
whole laserOdometry time 9.012923 ms 
 
mapping data assosiation time 22.167140 ms 
-----t: 0.057957
OdomCount 412 & avg odom time 0.038061 ms ++++++++++++++++++++++
--------------------stamp1317357804.858656883
points size 92347 
mapping solver time 20.908041 ms 
mapping optimization time 118.296363 
add points time 0.754145 ms
mapping pub time 2.155417 ms 
whole mapping time 133.002238 ms +++++
mappingCount 372 & avg mapping time 106.077992 ms ++++++++++++++++++++++
1317357804.651024103 WriteOdom aft_mapped_to_init
sort q time 25.487442 
seperate points time 32.595284 
-----t: 0.0428855
OdomCount 413 & avg odom time 0.038073 ms ++++++++++++++++++++++
publication time 12.921094 ms 
whole laserOdometry time 12.928861 ms 
 
mapping data assosiation time 22.605336 ms 
--------------------stamp1317357804.962480068
points size 93856 
mapping data assosiation time 22.698833 ms 
mapping solver time 17.893940 ms 
mapping pub time 2.259995 ms 
whole mapping time 127.141616 ms +++++
mappingCount 373 & avg mapping time 106.134480 ms ++++++++++++++++++++++
build tree time 18.614650 ms 
--------------------stamp1317357805.066301107
points size 95317 
sort q time 5.889848 
seperate points time 11.369753 
mapping data assosiation time 23.365115 ms 
1317357805.066301107 WriteOdom laser_odom_to_init
1317357805.066301107 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.401271 ms 
mapping optimization time 104.383558 
add points time 0.772082 ms
mapping pub time 2.045209 ms 
whole mapping time 116.956508 ms +++++
mappingCount 374 & avg mapping time 106.163427 ms ++++++++++++++++++++++
build tree time 20.080930 ms 
--------------------stamp1317357805.170099020
points size 94439 
sort q time 5.536280 
seperate points time 12.946627 
scan registration time 32.963037 ms *************
mapping solver time 29.880293 ms 
publication time 7.632159 ms 
whole laserOdometry time 7.647071 ms 
 
mapping data assosiation time 24.625506 ms 
-----t: 0.0606909
OdomCount 416 & avg odom time 0.038154 ms ++++++++++++++++++++++
1317357805.170099020 WriteOdom laser_odom_to_init
1317357805.170099020 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.981845 ms 
filter time 9.086397 ms 
points size 93802 
mapping pub time 2.435392 ms 
whole mapping time 137.138957 ms +++++
mappingCount 375 & avg mapping time 106.246039 ms ++++++++++++++++++++++
1317357805.066301107 WriteOdom aft_mapped_to_init
prepare time 11.376721 
sort q time 5.031090 
seperate points time 11.515773 
build tree time 23.119216 ms 
-----t: 0.0411423
OdomCount 417 & avg odom time 0.038161 ms ++++++++++++++++++++++
mapping solver time 20.661439 ms 
mapping data assosiation time 20.027806 ms 
points size 92101 
mapping solver time 16.485101 ms 
mapping optimization time 105.209335 
add points time 0.869503 ms
sort q time 5.694591 
seperate points time 11.764776 
filter time 8.587657 ms 
map prepare time 3.361123 ms
map corner num 94170  surf num 35248 
[0m[ INFO] [1718889888.314000896, 1317357805.409413253]: Received 129418 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889888.314039279, 1317357805.409413253]: Data saved to 1317357805170099.pcd[0m
publication time 12.327617 ms 
whole laserOdometry time 12.345645 ms 
 
build tree time 23.116068 ms 
-----t: 0.0667152
OdomCount 418 & avg odom time 0.038230 ms ++++++++++++++++++++++
mapping data assosiation time 23.137469 ms 
1317357805.377603054 WriteOdom laser_odom_to_init
1317357805.377603054 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357805.481379032
points size 89476 
prepare time 12.479408 
sort q time 4.861908 
seperate points time 11.569393 
scan registration time 35.406852 ms *************
publication time 8.864236 ms 
whole laserOdometry time 8.874816 ms 
 
filter time 6.161551 ms 
map prepare time 2.609638 ms
map corner num 84604  surf num 29938 
build tree time 17.963152 ms 
--------------------stamp1317357805.585175991
points size 85254 
sort q time 4.909137 
seperate points time 10.277094 
mapping solver time 32.824356 ms 
-----t: 0.0342623
OdomCount 420 & avg odom time 0.038232 ms ++++++++++++++++++++++
mapping data assosiation time 21.009755 ms 
mapping solver time 20.850492 ms 
mapping optimization time 117.638657 
add points time 0.838795 ms
map prepare time 2.295575 ms
map corner num 85166  surf num 30084 
build tree time 17.601641 ms 
sort q time 4.464104 
seperate points time 10.828234 
mapping data assosiation time 24.227748 ms 
publication time 8.860906 ms 
whole laserOdometry time 8.873893 ms 
 
mapping solver time 25.693428 ms 
mapping data assosiation time 21.960165 ms 
mapping solver time 17.137556 ms 
filter time 7.593977 ms 
mapping pub time 1.980148 ms 
whole mapping time 121.043116 ms +++++
mappingCount 379 & avg mapping time 106.467962 ms ++++++++++++++++++++++
1317357805.585175991 WriteOdom aft_mapped_to_init
points size 84259 
sort q time 4.579929 
seperate points time 9.337210 
scan registration time 27.580736 ms *************
build tree time 19.710023 ms 
publication time 10.371407 ms 
whole laserOdometry time 10.390187 ms 
 
mapping data assosiation time 26.585603 ms 
mapping solver time 21.616674 ms 
--------------------stamp1317357805.896548986
points size 87869 
mapping solver time 18.215072 ms 
mapping optimization time 108.515331 
filter time 8.120299 ms 
scan registration time 28.789120 ms *************
mapping pub time 2.045967 ms 
whole mapping time 122.690433 ms +++++
mappingCount 380 & avg mapping time 106.510668 ms ++++++++++++++++++++++
1317357805.688973904 WriteOdom aft_mapped_to_init
publication time 8.153116 ms 
whole laserOdometry time 8.173082 ms 
 
1317357805.896548986 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.799730 ms 
mapping data assosiation time 20.212424 ms 
mapping solver time 20.413553 ms 
points size 88474 
prepare time 12.153598 
sort q time 5.169211 
seperate points time 11.575324 
mapping solver time 19.911969 ms 
mapping optimization time 108.307656 
add points time 0.921006 ms
publication time 9.220544 ms 
whole laserOdometry time 9.253778 ms 
 
[0m[ INFO] [1718889888.955975013, 1317357806.052792540]: Received 117312 data points in frame camera_init with the following fields: x y z intensity[0m
1317357805.792748928 WriteOdom aft_mapped_to_init
build tree time 17.844201 ms 
--------------------stamp1317357806.104120969
points size 90207 
mapping solver time 23.067470 ms 
sort q time 5.013341 
seperate points time 12.020554 
scan registration time 29.915050 ms *************
mapping data assosiation time 25.532464 ms 
publication time 9.044555 ms 
whole laserOdometry time 9.059538 ms 
 
mapping solver time 18.712577 ms 
filter time 6.877856 ms 
mapping pub time 2.007971 ms 
whole mapping time 119.809878 ms +++++
mappingCount 382 & avg mapping time 106.611842 ms ++++++++++++++++++++++
1317357805.896548986 WriteOdom aft_mapped_to_init
build tree time 19.309096 ms 
points size 89555 
prepare time 14.593256 
scan registration time 31.980780 ms *************
mapping solver time 23.647661 ms 
mapping data assosiation time 20.502219 ms 
mapping solver time 15.778899 ms 
mapping optimization time 104.139127 
add points time 0.873613 ms
1317357806.104120970 WriteOdom aft_mapped_to_init
map prepare time 2.402832 ms
map corner num 87665  surf num 30715 
--------------------stamp1317357806.311671972
points size 89385 
prepare time 13.707168 
build tree time 20.087861 ms 
sort q time 5.588883 
seperate points time 13.598461 
scan registration time 32.223022 ms *************
publication time 9.471687 ms 
whole laserOdometry time 9.485574 ms 
 
1317357806.311671972 WriteOdom laser_odom_to_init
1317357806.311671972 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.857379 ms 
add points time 0.791514 ms
sort q time 9.610501 
seperate points time 15.529788 
publication time 7.831926 ms 
whole laserOdometry time 7.848322 ms 
 
mapping data assosiation time 22.909429 ms 
-----t: 0.0545922
OdomCount 428 & avg odom time 0.038349 ms ++++++++++++++++++++++
mapping solver time 21.824695 ms 
mapping data assosiation time 21.040384 ms 
points size 89947 
prepare time 12.393465 
mapping solver time 16.845837 ms 
mapping optimization time 105.698259 
filter time 8.523374 ms 
publication time 8.193199 ms 
whole laserOdometry time 8.206084 ms 
 
-----t: 0.0311797
OdomCount 429 & avg odom time 0.038332 ms ++++++++++++++++++++++
1317357806.519269943 WriteOdom laser_odom_to_init
1317357806.519269943 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.965567 ms 
mapping solver time 18.447524 ms 
--------------------stamp1317357806.623066902
points size 91399 
prepare time 10.763963 
mapping solver time 16.611441 ms 
sort q time 5.213089 
seperate points time 11.429168 
filter time 7.064141 ms 
map prepare time 2.458836 ms
map corner num 88844  surf num 30970 
publication time 7.327437 ms 
whole laserOdometry time 7.338066 ms 
 
-----t: 0.0443176
OdomCount 430 & avg odom time 0.038346 ms ++++++++++++++++++++++
1317357806.623066902 WriteOdom laser_odom_to_init
1317357806.623066902 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.714789 ms 
mapping data assosiation time 19.443883 ms 
mapping solver time 19.637567 ms 
points size 93136 
mapping data assosiation time 22.064961 ms 
scan registration time 28.399028 ms *************
mapping solver time 22.051422 ms 
filter time 8.761410 ms 
mapping pub time 2.152320 ms 
whole mapping time 118.554624 ms +++++
mappingCount 387 & avg mapping time 106.742680 ms ++++++++++++++++++++++
1317357806.519269943 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.907674 ms
map corner num 89203  surf num 31039 

1317357806.726866960 WriteOdom aft_mapped_to_init_high_frec
build tree time 39.095902 ms 
points size 95661 
sort q time 5.538611 
seperate points time 12.675168 
mapping solver time 23.843970 ms 
mapping data assosiation time 20.356637 ms 
mapping solver time 15.019020 ms 
filter time 6.655925 ms 
--------------------stamp1317357806.934416055
build tree time 20.886576 ms 
prepare time 19.701668 mapping data assosiation time 23.162530 ms 
scan registration time 42.096882 ms *************
mapping solver time 27.129338 ms 
-----t: 0.0505201
OdomCount 433 & avg odom time 0.038458 ms ++++++++++++++++++++++
mapping data assosiation time 20.317911 ms 
mapping solver time 19.691854 ms 
filter time 6.712006 ms 
mapping pub time 2.238724 ms 
whole mapping time 124.327307 ms +++++
mappingCount 389 & avg mapping time 106.860438 ms ++++++++++++++++++++++
1317357806.830641031 WriteOdom aft_mapped_to_init
prepare time 16.915011 
sort q time 5.341497 
seperate points time 12.329825 
build tree time 21.249881 ms 
scan registration time 35.713503 ms *************
publication time 8.268335 ms 
whole laserOdometry time 8.286083 ms 
 
mapping solver time 19.828755 ms 
mapping data assosiation time 18.638959 ms 
--------------------stamp1317357807.141988992
points size 99459 
prepare time 12.100023 
filter time 6.332819 ms 
sort q time 5.651941 
seperate points time 12.751525 
build tree time 21.616381 ms 
-----t: 0.0371047
OdomCount 435 & avg odom time 0.038443 ms ++++++++++++++++++++++
mapping data assosiation time 20.968673 ms 
mapping solver time 18.766172 ms 
mapping data assosiation time 18.595590 ms 
points size 100054 
filter time 8.128002 ms 
mapping pub time 3.756883 ms 
whole mapping time 112.876175 ms +++++
mappingCount 391 & avg mapping time 106.887841 ms ++++++++++++++++++++++
1317357807.038191080 WriteOdom aft_mapped_to_init
sort q time 5.426692 
seperate points time 12.856199 
-----t: 0.0332282
OdomCount 436 & avg odom time 0.038431 ms ++++++++++++++++++++++
publication time 10.963066 ms 
whole laserOdometry time 10.976149 ms 
 
mapping data assosiation time 18.798826 ms 
mapping solver time 24.546319 ms 
--------------------stamp1317357807.349586963
points size 100140 
prepare time 16.296445 
sort q time 5.711876 
seperate points time 13.364881 
add points time 0.911613 ms
filter time 7.792936 ms 
map prepare time 3.275405 ms
map corner num 91213  surf num 31594 
build tree time 18.477833 ms 
mapping data assosiation time 19.238427 ms 
--------------------stamp1317357807.453385114
mapping solver time 20.136337 ms 
points size 100539 
mapping solver time 14.883653 ms 
mapping pub time 3.442096 ms 
whole mapping time 110.033100 ms +++++
mappingCount 393 & avg mapping time 106.937098 ms ++++++++++++++++++++++
publication time 18.796678 ms 
whole laserOdometry time 18.828456 ms 
 
1317357807.245786905 WriteOdom aft_mapped_to_init
map prepare time 3.334295 ms
map corner num 91566  surf num 31737 
build tree time 24.724998 ms 
--------------------stamp1317357807.557183980
points size 100122 
mapping data assosiation time 24.130755 ms 
sort q time 6.406163 
seperate points time 12.324226 
mapping solver time 25.115945 ms 
publication time 10.670547 ms 
whole laserOdometry time 10.688482 ms 
 
mapping data assosiation time 23.744686 ms 
mapping solver time 18.632657 ms 
mapping optimization time 117.777035 
add points time 0.659196 ms
filter time 8.930829 ms 
map prepare time 3.312958 ms
map corner num 91938  surf num 31842 
points size 96496 
prepare time 12.706385 
scan registration time 30.371845 ms *************
mapping data assosiation time 21.545091 ms 
-----t: 0.0361917
OdomCount 440 & avg odom time 0.038422 ms ++++++++++++++++++++++
mapping solver time 21.846859 ms 
mapping data assosiation time 17.465606 ms 
mapping solver time 13.676835 ms 
mapping pub time 2.458020 ms 
whole mapping time 112.997115 ms +++++
mappingCount 395 & avg mapping time 107.019201 ms ++++++++++++++++++++++
1317357807.557183981 WriteOdom aft_mapped_to_init
points size 90668 
map prepare time 2.377704 ms
map corner num 92447  surf num 32017 
sort q time 5.052528 
seperate points time 11.241323 
scan registration time 28.253623 ms *************
build tree time 20.876579 ms 
publication time 6.263036 ms 
whole laserOdometry time 6.278713 ms 
 
mapping data assosiation time 20.585863 ms 
mapping solver time 20.053131 ms 
mapping data assosiation time 18.926015 ms 
--------------------stamp1317357807.868580102
filter time 6.526922 ms 
points size 85537 
[0m[ INFO] [1718889890.781026573, 1317357807.881183039]: Received 125058 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889890.781069693, 1317357807.881183039]: Data saved to 1317357807660983.pcd[0m
mapping pub time 4.336723 ms 
whole mapping time 111.070007 ms +++++
mappingCount 396 & avg mapping time 107.029445 ms ++++++++++++++++++++++
1317357807.660983086 WriteOdom aft_mapped_to_init
prepare time 15.220400 
sort q time 4.948091 
seperate points time 11.633526 
build tree time 24.763298 ms 
publication time 9.339979 ms 
whole laserOdometry time 9.352402 ms 
-----t: 0.0459049
OdomCount 442 & avg odom time 0.038433 ms ++++++++++++++++++++++
mapping solver time 23.914176 ms 
--------------------stamp1317357807.972403049
points size 81798 
sort q time 4.387697 
seperate points time 10.562373 
scan registration time 30.056720 ms *************
mapping solver time 18.704132 ms 
mapping optimization time 115.176812 
add points time 0.664799 ms
filter time 8.656835 ms 
map prepare time 3.092902 ms
map corner num 93272  surf num 32299 
-----t: 0.0352987
OdomCount 443 & avg odom time 0.038426 ms ++++++++++++++++++++++
1317357807.972403049 WriteOdom laser_odom_to_init
1317357807.972403049 WriteOdom aft_mapped_to_init_high_frec
publication time 5.681968 ms 
whole laserOdometry time 5.695261 ms 
 
mapping data assosiation time 22.863061 ms 
--------------------stamp1317357808.076275110
points size 79149 
sort q time 4.265127 
seperate points time 9.460833 
publication time 7.578138 ms 
whole laserOdometry time 7.593116 ms 
 
1317357808.076275110 WriteOdom laser_odom_to_init
mapping solver time 18.105233 ms 
mapping optimization time 119.372283 
add points time 0.654190 ms
filter time 9.299233 ms 
mapping pub time 2.261225 ms 
whole mapping time 134.730976 ms +++++
mappingCount 398 & avg mapping time 107.156568 ms ++++++++++++++++++++++
1317357807.868580103 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357808.180145025
points size 75057 
sort q time 4.753197 
seperate points time 9.594064 
mapping data assosiation time 22.259204 ms 
scan registration time 24.769757 ms *************
publication time 6.013021 ms 
whole laserOdometry time 6.026033 ms 
 
-----t: 0.0305942
OdomCount 445 & avg odom time 0.038392 ms ++++++++++++++++++++++
1317357808.180145025 WriteOdom laser_odom_to_init
1317357808.180145025 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.543942 ms 
mapping solver time 14.411090 ms 
filter time 6.470089 ms 
mapping pub time 1.871643 ms 
whole mapping time 119.414210 ms +++++
mappingCount 399 & avg mapping time 107.187301 ms ++++++++++++++++++++++
1317357807.972403049 WriteOdom aft_mapped_to_init
points size 72047 
build tree time 23.663621 ms 
sort q time 4.106019 
seperate points time 8.378442 
scan registration time 20.885205 ms *************
publication time 5.302034 ms 
whole laserOdometry time 5.315173 ms 
 
mapping data assosiation time 21.161715 ms 
-----t: 0.0365346
OdomCount 446 & avg odom time 0.038388 ms ++++++++++++++++++++++
1317357808.284015893 WriteOdom laser_odom_to_init
1317357808.284015893 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.310582 ms 
mapping solver time 18.020757 ms 
filter time 7.888315 ms 
prepare time 10.608630 
sort q time 3.930291 
seperate points time 8.946839 
scan registration time 22.802943 ms *************
publication time 6.414100 ms 
whole laserOdometry time 6.516842 ms 
 
-----t: 0.0405286
OdomCount 447 & avg odom time 0.038392 ms ++++++++++++++++++++++
mapping solver time 22.181028 ms 
mapping data assosiation time 15.198131 ms 
mapping solver time 16.988657 ms 
filter time 5.397195 ms 
points size 71717 
[0m[ INFO] [1718889891.402090822, 1317357808.499374189]: Received 102706 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889891.402158288, 1317357808.499374189]: Data saved to 1317357808284015.pcd[0m
prepare time 11.948155 
mapping pub time 8.012421 ms 
whole mapping time 109.662062 ms +++++
mappingCount 401 & avg mapping time 107.220570 ms ++++++++++++++++++++++
1317357808.284015894 WriteOdom aft_mapped_to_init
build tree time 18.993169 ms 
-----t: 0.0359508
OdomCount 448 & avg odom time 0.038387 ms ++++++++++++++++++++++
1317357808.491708040 WriteOdom laser_odom_to_init
1317357808.491708040 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.562613 ms 
mapping solver time 20.900979 ms 
mapping data assosiation time 18.700916 ms 
points size 77140 
filter time 5.511807 ms 
scan registration time 26.235582 ms *************
build tree time 18.437610 ms 
mapping data assosiation time 17.729838 ms 
mapping solver time 20.018573 ms 
mapping data assosiation time 17.582683 ms 
--------------------stamp1317357808.699377059
add points time 0.596628 ms
mapping pub time 1.644004 ms 
whole mapping time 98.632371 ms +++++
mappingCount 403 & avg mapping time 107.193614 ms ++++++++++++++++++++++
sort q time 4.792467 
seperate points time 10.780947 
build tree time 20.334948 ms 
publication time 10.228313 ms 
whole laserOdometry time 10.246529 ms 
 
mapping solver time 16.823393 ms 
mapping data assosiation time 17.117632 ms 
--------------------stamp1317357808.803177118
points size 86486 
mapping pub time 1.796103 ms 
whole mapping time 103.270683 ms +++++
mappingCount 404 & avg mapping time 107.183916 ms ++++++++++++++++++++++
1317357808.595555067 WriteOdom aft_mapped_to_init
map prepare time 2.538426 ms
map corner num 77808  surf num 26826 
sort q time 5.135201 
seperate points time 11.411513 
build tree time 22.105490 ms 
mapping data assosiation time 18.201780 ms 
mapping solver time 21.014622 ms 
mapping data assosiation time 17.743719 ms 
points size 91919 
filter time 7.623752 ms 
mapping pub time 1.973406 ms 
whole mapping time 108.525687 ms +++++
mappingCount 405 & avg mapping time 107.187244 ms ++++++++++++++++++++++
1317357808.699377060 WriteOdom aft_mapped_to_init
sort q time 6.253505 
seperate points time 12.427415 
map prepare time 2.618188 ms
map corner num 78319  surf num 27047 
scan registration time 28.870025 ms *************
build tree time 18.926352 ms 
-----t: 0.0432277
OdomCount 452 & avg odom time 0.038347 ms ++++++++++++++++++++++
1317357808.906977891 WriteOdom laser_odom_to_init
1317357808.906977891 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.544081 ms 
--------------------stamp1317357809.010776042
points size 94674 
prepare time 21.259769 
mapping solver time 19.583365 ms 
mapping optimization time 98.038524 
add points time 0.601866 ms
[0m[ INFO] [1718889891.940552405, 1317357809.037335690]: Received 105996 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889891.940590778, 1317357809.037335690]: Data saved to 1317357808803177.pcd[0m
mapping pub time 3.136472 ms 
whole mapping time 109.913776 ms +++++
mappingCount 406 & avg mapping time 107.193970 ms ++++++++++++++++++++++
1317357808.803177118 WriteOdom aft_mapped_to_init
mapping data assosiation time 19.107998 ms 
-----t: 0.0681272
OdomCount 453 & avg odom time 0.038413 ms ++++++++++++++++++++++
1317357809.010776042 WriteOdom laser_odom_to_init
1317357809.010776042 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.041177 ms 
--------------------stamp1317357809.114550113
mapping data assosiation time 19.349093 ms 
prepare time 15.516444 
add points time 0.706934 ms
sort q time 5.481201 
seperate points time 12.698140 
map prepare time 3.208366 ms
map corner num 79315  surf num 27396 
publication time 9.240171 ms 
whole laserOdometry time 9.261218 ms 
 
build tree time 17.894009 ms 
mapping data assosiation time 18.790148 ms 
mapping solver time 19.697050 ms 
--------------------stamp1317357809.218348979
points size 96908 
sort q time 8.003366 
seperate points time 14.545732 
filter time 5.777154 ms 
map prepare time 3.096109 ms
map corner num 79816  surf num 27560 
publication time 8.003180 ms 
whole laserOdometry time 8.014982 ms 
 
build tree time 20.050283 ms 
mapping data assosiation time 20.224301 ms 
--------------------stamp1317357809.322146892
points size 97001 
prepare time 12.009093 
mapping data assosiation time 22.289908 ms 
sort q time 5.582201 
seperate points time 18.522917 
mapping solver time 16.963068 ms 
filter time 8.015306 ms 
map prepare time 3.055787 ms
map corner num 80277  surf num 27710 
publication time 10.751550 ms 
whole laserOdometry time 10.776808 ms 
 
build tree time 16.674121 ms 
mapping data assosiation time 17.527408 ms 
--------------------stamp1317357809.425921916
points size 95984 
sort q time 5.421065 
seperate points time 11.205371 
scan registration time 28.903435 ms *************
-----t: 0.0284629
OdomCount 457 & avg odom time 0.038420 ms ++++++++++++++++++++++
1317357809.425921916 WriteOdom laser_odom_to_init
1317357809.425921916 WriteOdom aft_mapped_to_init_high_frec
publication time 5.929730 ms 
whole laserOdometry time 5.945589 ms 
 
mapping solver time 20.733433 ms 
filter time 5.659172 ms 
map prepare time 2.344580 ms
map corner num 80694  surf num 27852 
build tree time 15.543440 ms 
--------------------stamp1317357809.529700040
points size 94474 
prepare time 12.528177 
sort q time 5.276964 
seperate points time 11.821606 
-----t: 0.0285976
OdomCount 458 & avg odom time 0.038398 ms ++++++++++++++++++++++
mapping data assosiation time 20.497270 ms 
mapping solver time 19.139073 ms 
mapping optimization time 101.137741 
add points time 0.574307 ms
1317357809.322146893 WriteOdom aft_mapped_to_init
--------------------stamp1317357809.633496999
points size 93121 
mapping data assosiation time 19.255495 ms 
sort q time 5.132486 
seperate points time 11.281487 
scan registration time 27.876559 ms *************
mapping solver time 20.423059 ms 
publication time 15.409196 ms 
whole laserOdometry time 15.420874 ms 
 
mapping data assosiation time 19.362640 ms 
mapping solver time 17.201115 ms 
filter time 6.760848 ms 
mapping pub time 2.205658 ms 
whole mapping time 108.093866 ms +++++
mappingCount 412 & avg mapping time 107.243932 ms ++++++++++++++++++++++
1317357809.529700041 WriteOdom aft_mapped_to_init
--------------------stamp1317357809.737340927
build tree time 20.026733 ms 
sort q time 5.147521 
seperate points time 11.738064 
publication time 8.516552 ms 
whole laserOdometry time 8.533346 ms 
 
1317357809.737340927 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.622652 ms 
mapping solver time 13.338326 ms 
mapping optimization time 92.464171 
add points time 0.541524 ms
map prepare time 2.108662 ms
map corner num 81912  surf num 28218 
--------------------stamp1317357809.841188907
points size 90459 
sort q time 5.309769 
seperate points time 11.660715 
publication time 7.262625 ms 
whole laserOdometry time 7.273640 ms 
 
-----t: 0.0376936
OdomCount 461 & avg odom time 0.038382 ms ++++++++++++++++++++++
mapping data assosiation time 17.162768 ms 
mapping solver time 14.127153 ms 
filter time 5.364429 ms 
map prepare time 2.089309 ms
map corner num 82281  surf num 28314 
points size 88573 
sort q time 4.703067 
seperate points time 9.518053 
mapping data assosiation time 19.315779 ms 
publication time 6.666376 ms 
whole laserOdometry time 6.680208 ms 
 
-----t: 0.0399
OdomCount 462 & avg odom time 0.038386 ms ++++++++++++++++++++++
1317357809.945010900 WriteOdom laser_odom_to_init
1317357809.945010900 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.214862 ms 
mapping data assosiation time 18.847390 ms 
mapping solver time 18.533320 ms 
filter time 5.349875 ms 
map prepare time 3.014102 ms
map corner num 82674  surf num 28408 
prepare time 10.371261 
sort q time 4.782084 
seperate points time 10.451570 
build tree time 19.319632 ms 
scan registration time 25.076196 ms *************
publication time 7.559225 ms 
whole laserOdometry time 7.578382 ms 
 
-----t: 0.0299539
OdomCount 463 & avg odom time 0.038367 ms ++++++++++++++++++++++
mapping data assosiation time 21.971893 ms 
1317357810.048831939 WriteOdom laser_odom_to_init
1317357810.048831939 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.235243 ms 
mapping data assosiation time 16.697015 ms 
mapping solver time 14.281083 ms 
filter time 7.374494 ms 
map prepare time 2.100343 ms
map corner num 83127  surf num 28513 
sort q time 4.540636 
seperate points time 10.130086 
build tree time 18.909195 ms 
publication time 11.889742 ms 
whole laserOdometry time 11.903594 ms 
 
mapping data assosiation time 20.583500 ms 
-----t: 0.0551359
OdomCount 464 & avg odom time 0.038404 ms ++++++++++++++++++++++
mapping data assosiation time 16.789964 ms 
mapping solver time 13.462137 ms 
mapping pub time 1.914268 ms 
whole mapping time 101.445429 ms +++++
mappingCount 417 & avg mapping time 107.228922 ms ++++++++++++++++++++++
sort q time 4.849963 
seperate points time 10.935091 
publication time 7.298125 ms 
whole laserOdometry time 7.310078 ms 
 
-----t: 0.0317272
OdomCount 465 & avg odom time 0.038389 ms ++++++++++++++++++++++
1317357810.256529092 WriteOdom laser_odom_to_init
1317357810.256529092 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.326812 ms 
mapping data assosiation time 18.053738 ms 
--------------------stamp1317357810.360351085
points size 86126 
filter time 6.844931 ms 
mapping pub time 1.904198 ms 
whole mapping time 105.409270 ms +++++
mappingCount 418 & avg mapping time 107.224582 ms ++++++++++++++++++++++
prepare time 11.922007 
1317357810.152682066 WriteOdom aft_mapped_to_init
sort q time 4.756553 
seperate points time 10.846257 
build tree time 20.832801 ms 
publication time 6.043394 ms 
whole laserOdometry time 6.059192 ms 
 
mapping data assosiation time 19.167408 ms 
1317357810.360351085 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.795367 ms 
mapping data assosiation time 18.578109 ms 
--------------------stamp1317357810.464173078
points size 87933 
mapping pub time 1.998718 ms 
whole mapping time 106.472623 ms +++++
mappingCount 419 & avg mapping time 107.222804 ms ++++++++++++++++++++++
1317357810.256529093 WriteOdom aft_mapped_to_init
build tree time 19.188563 ms 
-----t: 0.0369321
OdomCount 467 & avg odom time 0.038397 ms ++++++++++++++++++++++
1317357810.464173078 WriteOdom laser_odom_to_init
1317357810.464173078 WriteOdom aft_mapped_to_init_high_frec
publication time 16.054088 ms 
whole laserOdometry time 16.062255 ms 
 
mapping data assosiation time 20.094762 ms 
mapping solver time 18.092256 ms 
mapping data assosiation time 17.005394 ms 
mapping solver time 14.648894 ms 
map prepare time 1.999090 ms
map corner num 84713  surf num 28989 
sort q time 4.962019 
seperate points time 11.485150 
publication time 7.101651 ms 
whole laserOdometry time 7.229588 ms 
 
mapping data assosiation time 25.913464 ms 
mapping solver time 28.410872 ms 
--------------------stamp1317357810.671817064
points size 90003 
prepare time 12.102706 
mapping data assosiation time 22.185782 ms 
sort q time 4.918099 
seperate points time 11.326575 
filter time 7.647308 ms 
1317357810.671817064 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 22.199865 ms 
whole mapping time 146.688849 ms +++++
mappingCount 421 & avg mapping time 107.303434 ms ++++++++++++++++++++++
build tree time 18.341494 ms 
mapping data assosiation time 18.649342 ms 
points size 89266 
prepare time 11.850845 
sort q time 4.933692 
seperate points time 11.587490 
scan registration time 28.454214 ms *************
publication time 6.660557 ms 
whole laserOdometry time 6.670307 ms 
 
mapping data assosiation time 22.341604 ms 
mapping solver time 15.706665 ms 
mapping optimization time 100.715194 
add points time 0.781925 ms
-----t: 0.0818801
OdomCount 470 & avg odom time 0.038451 ms ++++++++++++++++++++++
map prepare time 4.332960 ms
map corner num 85552  surf num 29289 
points size 89343 
prepare time 9.527340 
scan registration time 25.409814 ms *************
publication time 7.972885 ms 
whole laserOdometry time 7.986609 ms 
 
mapping solver time 25.795753 ms 
mapping data assosiation time 17.326656 ms 
mapping solver time 13.219278 ms 
--------------------stamp1317357810.983335018
points size 86391 
build tree time 19.047572 ms 
mapping data assosiation time 20.444455 ms 
publication time 7.817578 ms 
whole laserOdometry time 7.829865 ms 
 
-----t: 0.0465679
OdomCount 472 & avg odom time 0.038492 ms ++++++++++++++++++++++
mapping solver time 21.109509 ms 
1317357810.983335018 WriteOdom laser_odom_to_init
1317357810.983335018 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.749743 ms 
mapping solver time 14.256426 ms 
filter time 7.819539 ms 
sort q time 5.285048 
seperate points time 9.906086 
scan registration time 26.074995 ms *************
publication time 7.896260 ms 
whole laserOdometry time 7.912047 ms 
 
1317357811.087157011 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.548598 ms 
mapping solver time 19.032646 ms 
mapping data assosiation time 16.434043 ms 
--------------------stamp1317357811.190979003
points size 79421 
filter time 5.905765 ms 
prepare time 11.059809 
mapping pub time 2.189956 ms 
whole mapping time 104.812259 ms +++++
mappingCount 425 & avg mapping time 107.320553 ms ++++++++++++++++++++++
1317357810.983335018 WriteOdom aft_mapped_to_init
scan registration time 25.422117 ms *************
build tree time 20.924892 ms 
mapping data assosiation time 19.234522 ms 
mapping solver time 19.162942 ms 
mapping data assosiation time 18.427457 ms 
--------------------stamp1317357811.294826030
prepare time 9.172373 
sort q time 4.603618 
seperate points time 10.312772 
publication time 6.584122 ms 
whole laserOdometry time 6.607465 ms 
 
-----t: 0.0342092
OdomCount 475 & avg odom time 0.038453 ms ++++++++++++++++++++++
mapping data assosiation time 18.567574 ms 
mapping solver time 17.752427 ms 
mapping data assosiation time 17.461185 ms 
points size 76584 
mapping pub time 1.789515 ms 
whole mapping time 103.191471 ms +++++
mappingCount 427 & avg mapping time 107.308172 ms ++++++++++++++++++++++
publication time 6.275091 ms 
whole laserOdometry time 6.389197 ms 
 
build tree time 21.215372 ms 
-----t: 0.0351744
OdomCount 476 & avg odom time 0.038446 ms ++++++++++++++++++++++
mapping data assosiation time 20.241150 ms 
mapping solver time 18.109550 ms 
mapping data assosiation time 19.207173 ms 
points size 75730 
mapping optimization time 98.591129 
add points time 0.860923 ms
sort q time 4.397018 
seperate points time 9.788786 
map prepare time 2.723733 ms
map corner num 88181  surf num 30090 
-----t: 0.0331878
OdomCount 477 & avg odom time 0.038435 ms ++++++++++++++++++++++
mapping data assosiation time 17.492563 ms 
mapping solver time 22.107782 ms 
--------------------stamp1317357811.606247901
points size 75859 
sort q time 3.967348 
seperate points time 9.378377 
scan registration time 27.218959 ms *************
filter time 5.769590 ms 
1317357811.606247901 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.039999 ms 
mapping data assosiation time 16.410300 ms 
mapping solver time 18.992159 ms 
points size 75376 
mapping data assosiation time 20.293531 ms 
sort q time 4.475698 
seperate points time 9.560042 
mapping solver time 17.632175 ms 
filter time 8.013646 ms 
-----t: 0.0490188
OdomCount 479 & avg odom time 0.038444 ms ++++++++++++++++++++++
1317357811.710020065 WriteOdom laser_odom_to_init
1317357811.710020065 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.936256 ms
map corner num 89016  surf num 30308 
build tree time 16.284377 ms 
--------------------stamp1317357811.813819885
points size 75082 
mapping solver time 24.958286 ms 
publication time 6.507033 ms 
whole laserOdometry time 6.534540 ms 
 
mapping data assosiation time 21.385028 ms 
-----t: 0.0268128
OdomCount 480 & avg odom time 0.038420 ms ++++++++++++++++++++++
1317357811.813819885 WriteOdom laser_odom_to_init
1317357811.813819885 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.000519 ms 
filter time 6.079555 ms 
[0m[ INFO] [1718889894.782805877, 1317357811.883352014]: Received 119990 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889894.782843874, 1317357811.883352014]: Data saved to 1317357811710020.pcd[0m
mapping pub time 3.406507 ms 
whole mapping time 111.508261 ms +++++
mappingCount 431 & avg mapping time 107.346855 ms ++++++++++++++++++++++
1317357811.710020065 WriteOdom aft_mapped_to_init
build tree time 23.130454 ms 
points size 74481 
prepare time 13.256172 
scan registration time 26.282668 ms *************
publication time 6.519826 ms 
whole laserOdometry time 6.533415 ms 
 
mapping solver time 29.327379 ms 
-----t: 0.0437482
OdomCount 481 & avg odom time 0.038431 ms ++++++++++++++++++++++
mapping data assosiation time 22.152100 ms 
mapping solver time 23.763646 ms 
--------------------stamp1317357812.021419048
map prepare time 2.708267 ms
map corner num 89976  surf num 30567 
points size 74967 
prepare time 11.399660 
build tree time 23.385266 ms 
publication time 6.421309 ms 
whole laserOdometry time 6.437016 ms 
 
mapping data assosiation time 22.203750 ms 
1317357812.021419048 WriteOdom laser_odom_to_init
1317357812.021419048 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.213417 ms 
mapping data assosiation time 18.870666 ms 
points size 77411 
filter time 6.617629 ms 
scan registration time 25.437279 ms *************
build tree time 14.535570 ms 
-----t: 0.0364908
OdomCount 483 & avg odom time 0.038436 ms ++++++++++++++++++++++
mapping data assosiation time 20.394458 ms 
mapping solver time 20.092478 ms 
mapping data assosiation time 19.078947 ms 
--------------------stamp1317357812.229232072
points size 79498 
prepare time 11.771027 
mapping solver time 18.250675 ms 
mapping optimization time 93.499991 
add points time 0.793813 ms
sort q time 4.418891 
seperate points time 9.765655 
scan registration time 25.201097 ms *************
map prepare time 2.760939 ms
map corner num 59161  surf num 20226 
-----t: 0.0349159
OdomCount 484 & avg odom time 0.038429 ms ++++++++++++++++++++++
1317357812.229232072 WriteOdom laser_odom_to_init
1317357812.229232072 WriteOdom aft_mapped_to_init_high_frec
build tree time 14.435387 ms 
mapping data assosiation time 18.798893 ms 
mapping solver time 19.229790 ms 
--------------------stamp1317357812.333245038
points size 81542 
sort q time 4.972002 
seperate points time 9.533613 
mapping solver time 17.497439 ms 
mapping optimization time 95.951265 
add points time 0.960733 ms
publication time 7.419942 ms 
whole laserOdometry time 7.435973 ms 
 
-----t: 0.0316497
OdomCount 485 & avg odom time 0.038415 ms ++++++++++++++++++++++
build tree time 13.541526 ms 
mapping data assosiation time 20.595214 ms 
--------------------stamp1317357812.437356948
mapping solver time 26.783874 ms 
points size 82202 
sort q time 4.243180 
seperate points time 9.749089 
mapping data assosiation time 21.596384 ms 
scan registration time 25.739357 ms *************
publication time 6.988148 ms 
whole laserOdometry time 7.002306 ms 
 
mapping solver time 29.385772 ms 
mapping optimization time 113.379152 
add points time 0.732813 ms
filter time 4.001012 ms 
map prepare time 1.913134 ms
map corner num 59855  surf num 20453 
build tree time 12.134811 ms 
mapping data assosiation time 19.502283 ms 
--------------------stamp1317357812.541516065
points size 83465 
prepare time 11.424969 
sort q time 4.636440 
seperate points time 11.241120 
mapping data assosiation time 22.991712 ms 
publication time 15.060567 ms 
whole laserOdometry time 15.188113 ms 
-----t: 0.0536988
OdomCount 487 & avg odom time 0.038425 ms ++++++++++++++++++++++
1317357812.541516065 WriteOdom laser_odom_to_init
1317357812.541516065 WriteOdom aft_mapped_to_init_high_frec
filter time 11.913484 ms 
mapping pub time 1.903948 ms 
whole mapping time 132.772044 ms +++++
mappingCount 437 & avg mapping time 107.551760 ms ++++++++++++++++++++++
1317357812.333245039 WriteOdom aft_mapped_to_init
--------------------stamp1317357812.645699024
points size 85149 
sort q time 4.105597 
seperate points time 8.493803 
mapping data assosiation time 24.115926 ms 
publication time 10.636285 ms 
whole laserOdometry time 10.646936 ms 
 
mapping solver time 28.886090 ms 
mapping data assosiation time 22.845629 ms 
-----t: 0.0811707
OdomCount 488 & avg odom time 0.038513 ms ++++++++++++++++++++++
mapping solver time 28.749286 ms 
mapping pub time 2.173250 ms 
whole mapping time 130.197117 ms +++++
mappingCount 438 & avg mapping time 107.603474 ms ++++++++++++++++++++++
sort q time 5.958366 
seperate points time 11.878841 
build tree time 16.167383 ms 
publication time 6.102587 ms 
whole laserOdometry time 6.115632 ms 
 
-----t: 0.0382667
OdomCount 489 & avg odom time 0.038512 ms ++++++++++++++++++++++
mapping solver time 24.689990 ms 
--------------------stamp1317357812.854211091
points size 89241 
prepare time 10.124586 
mapping solver time 20.853742 ms 
mapping pub time 2.182200 ms 
whole mapping time 117.687457 ms +++++
mappingCount 439 & avg mapping time 107.626458 ms ++++++++++++++++++++++
publication time 8.680548 ms 
whole laserOdometry time 8.698125 ms 
 
build tree time 13.694011 ms 
mapping data assosiation time 21.464265 ms 
mapping solver time 24.262130 ms 
points size 89702 
sort q time 4.944826 
seperate points time 10.975443 
scan registration time 27.068986 ms *************
publication time 8.237363 ms 
whole laserOdometry time 8.254451 ms 
 
filter time 5.902204 ms 
mapping pub time 2.000287 ms 
whole mapping time 122.755997 ms +++++
mappingCount 440 & avg mapping time 107.660853 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 2.574919 ms
map corner num 61825  surf num 21282 
1317357812.958512067 WriteOdom laser_odom_to_init
1317357812.958512067 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.333350 ms 
--------------------stamp1317357813.062792062
points size 89866 
mapping solver time 30.000879 ms 
scan registration time 27.890684 ms *************
-----t: 0.0478296
OdomCount 492 & avg odom time 0.038591 ms ++++++++++++++++++++++
mapping solver time 27.866340 ms 
filter time 4.510527 ms 
[0m[ INFO] [1718889896.042399226, 1317357813.141455019]: Received 83801 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889896.042466533, 1317357813.141455019]: Data saved to 1317357812854211.pcd[0m
mapping pub time 12.317782 ms 
whole mapping time 141.218493 ms +++++
mappingCount 441 & avg mapping time 107.736955 ms ++++++++++++++++++++++
map prepare time 2.850610 ms
map corner num 62318  surf num 21483 
--------------------stamp1317357813.167021036
build tree time 16.461812 ms 
mapping data assosiation time 25.690439 ms 
publication time 7.511658 ms 
whole laserOdometry time 7.525126 ms 
 
-----t: 0.0398371
OdomCount 493 & avg odom time 0.038594 ms ++++++++++++++++++++++
mapping solver time 32.133875 ms 
mapping data assosiation time 25.520843 ms 
--------------------stamp1317357813.271224975
points size 90046 
prepare time 11.984768 
filter time 6.384357 ms 
map prepare time 2.748260 ms
map corner num 62891  surf num 21725 
build tree time 15.992713 ms 
publication time 7.688433 ms 
whole laserOdometry time 7.702456 ms 
 
-----t: 0.0460841
OdomCount 494 & avg odom time 0.038609 ms ++++++++++++++++++++++
mapping data assosiation time 25.659978 ms 
mapping solver time 24.859745 ms 
points size 91804 
mapping data assosiation time 24.358326 ms 
publication time 8.111373 ms 
whole laserOdometry time 8.123039 ms 
 
filter time 4.846547 ms 
build tree time 13.486587 ms 
mapping data assosiation time 20.669329 ms 
--------------------stamp1317357813.479496002
points size 93757 
mapping solver time 25.210575 ms 
prepare time 12.282348 
sort q time 5.350563 
seperate points time 22.798990 
publication time 8.082962 ms 
whole laserOdometry time 8.097891 ms 
 
mapping solver time 25.395072 ms 
mapping pub time 2.006644 ms 
whole mapping time 121.252845 ms +++++
mappingCount 444 & avg mapping time 107.884385 ms ++++++++++++++++++++++
1317357813.271224976 WriteOdom aft_mapped_to_init
map prepare time 2.217461 ms
map corner num 63990  surf num 22091 
build tree time 12.188428 ms 
--------------------stamp1317357813.583488941
points size 94865 
prepare time 10.058821 
sort q time 5.312824 
seperate points time 11.353372 
mapping solver time 30.629858 ms 
publication time 8.085701 ms 
whole laserOdometry time 8.102833 ms 
 
-----t: 0.0392392
OdomCount 497 & avg odom time 0.038621 ms ++++++++++++++++++++++
1317357813.583488941 WriteOdom laser_odom_to_init
1317357813.583488941 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.121233 ms 
filter time 4.637855 ms 
mapping pub time 2.045316 ms 
whole mapping time 120.377914 ms +++++
mappingCount 445 & avg mapping time 107.912468 ms ++++++++++++++++++++++
1317357813.479496002 WriteOdom aft_mapped_to_init
--------------------stamp1317357813.687383890
build tree time 15.802657 ms 
sort q time 5.510419 
seperate points time 10.795448 
mapping data assosiation time 26.290739 ms 
publication time 10.348597 ms 
whole laserOdometry time 10.364903 ms 
 
mapping solver time 31.978419 ms 
mapping data assosiation time 21.259264 ms 
--------------------stamp1317357813.791182994
points size 98024 
map prepare time 3.003650 ms
map corner num 64958  surf num 22409 
scan registration time 33.310941 ms *************
publication time 8.347056 ms 
whole laserOdometry time 8.360447 ms 
 
mapping data assosiation time 27.232333 ms 
mapping solver time 31.518351 ms 
points size 100753 
mapping data assosiation time 26.431293 ms 
scan registration time 29.200376 ms *************
publication time 7.111025 ms 
whole laserOdometry time 7.122316 ms 
 
mapping solver time 26.587142 ms 
mapping optimization time 131.648302 
add points time 0.777271 ms
filter time 6.443990 ms 
-----t: 0.0445473
OdomCount 500 & avg odom time 0.038673 ms ++++++++++++++++++++++
1317357813.894910097 WriteOdom laser_odom_to_init
1317357813.894910097 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.368722 ms 
whole mapping time 144.297182 ms +++++
mappingCount 447 & avg mapping time 108.044894 ms ++++++++++++++++++++++
1317357813.687383890 WriteOdom aft_mapped_to_init
build tree time 16.913353 ms 
--------------------stamp1317357813.998589038
points size 103192 
prepare time 14.642493 
sort q time 6.007936 
seperate points time 13.105929 
publication time 7.049991 ms 
whole laserOdometry time 7.062052 ms 
 
mapping data assosiation time 26.256995 ms 
-----t: 0.0585465
OdomCount 501 & avg odom time 0.038712 ms ++++++++++++++++++++++
mapping solver time 28.165011 ms 
mapping optimization time 133.710272 
add points time 0.796894 ms
--------------------stamp1317357814.102243900
points size 103735 
build tree time 16.163613 ms 
sort q time 5.766423 
seperate points time 13.147831 
mapping data assosiation time 23.379492 ms 
-----t: 0.048064
OdomCount 502 & avg odom time 0.038731 ms ++++++++++++++++++++++
1317357814.102243900 WriteOdom laser_odom_to_init
1317357814.102243900 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.041982 ms 
mapping data assosiation time 22.695439 ms 
points size 103967 
mapping solver time 22.836148 ms 
scan registration time 30.142460 ms *************
build tree time 13.717982 ms 
mapping data assosiation time 23.403331 ms 
mapping solver time 25.615678 ms 
points size 104091 
prepare time 13.445100 
sort q time 8.945897 
seperate points time 15.562796 
scan registration time 34.131952 ms *************
publication time 9.191496 ms 
whole laserOdometry time 9.207681 ms 
 
mapping solver time 29.812489 ms 
mapping optimization time 118.232783 
add points time 1.030612 ms
-----t: 0.0401119
OdomCount 504 & avg odom time 0.038745 ms ++++++++++++++++++++++
1317357814.309600114 WriteOdom laser_odom_to_init
1317357814.309600114 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.291934 ms
map corner num 66643  surf num 22885 
build tree time 13.933446 ms 
mapping data assosiation time 22.111641 ms 
points size 104206 
mapping solver time 24.901945 ms 
sort q time 6.300927 
seperate points time 13.342099 
scan registration time 34.477505 ms *************
mapping data assosiation time 27.208640 ms 
-----t: 0.0528407
OdomCount 505 & avg odom time 0.038773 ms ++++++++++++++++++++++
1317357814.413326978 WriteOdom laser_odom_to_init
1317357814.413326978 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.633757 ms 
[0m[ INFO] [1718889897.393136408, 1317357814.490944417]: Received 90029 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889897.393183294, 1317357814.490944417]: Data saved to 1317357814205898.pcd[0m
map prepare time 3.017046 ms
map corner num 67024  surf num 23005 
--------------------stamp1317357814.517076969
points size 104286 
prepare time 17.543237 
mapping data assosiation time 26.776596 ms 
scan registration time 36.929641 ms *************
publication time 8.330369 ms 
whole laserOdometry time 8.351620 ms 
 
mapping data assosiation time 25.067707 ms 
--------------------stamp1317357814.620826959
filter time 6.245039 ms 
map prepare time 3.119274 ms
map corner num 67473  surf num 23168 
sort q time 6.651362 
seperate points time 13.470470 
publication time 9.160338 ms 
whole laserOdometry time 9.173907 ms 
 
-----t: 0.0500986
OdomCount 507 & avg odom time 0.038806 ms ++++++++++++++++++++++
1317357814.620826959 WriteOdom laser_odom_to_init
1317357814.620826959 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.353302 ms 
--------------------stamp1317357814.724554061
points size 104344 
mapping solver time 17.740831 ms 
mapping pub time 2.307011 ms 
whole mapping time 115.790935 ms +++++
mappingCount 453 & avg mapping time 108.338582 ms ++++++++++++++++++++++
build tree time 15.758843 ms 
publication time 18.735927 ms 
whole laserOdometry time 18.748535 ms 
 
-----t: 0.0564516
OdomCount 508 & avg odom time 0.038841 ms ++++++++++++++++++++++
1317357814.724554061 WriteOdom laser_odom_to_init
1317357814.724554061 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.550119 ms 
mapping solver time 20.889326 ms 
points size 104287 
prepare time 15.084943 
sort q time 6.771708 
seperate points time 12.772042 
scan registration time 32.933868 ms *************
mapping optimization time 113.517566 
mapping pub time 2.426189 ms 
whole mapping time 126.731903 ms +++++
mappingCount 454 & avg mapping time 108.379136 ms ++++++++++++++++++++++
1317357814.828279972 WriteOdom aft_mapped_to_init_high_frec
build tree time 14.594825 ms 
--------------------stamp1317357814.932008028
points size 104428 
mapping solver time 26.169812 ms 
scan registration time 33.016668 ms *************
publication time 7.961040 ms 
whole laserOdometry time 7.974991 ms 
 
mapping data assosiation time 26.344589 ms 
-----t: 0.0390453
OdomCount 510 & avg odom time 0.038843 ms ++++++++++++++++++++++
1317357814.932008028 WriteOdom laser_odom_to_init
1317357814.932008028 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.753073 ms 
mapping optimization time 112.083644 
add points time 0.831538 ms
filter time 5.247485 ms 
map prepare time 2.229887 ms
map corner num 68569  surf num 23495 
build tree time 13.046328 ms 
--------------------stamp1317357815.035712003
points size 104387 
mapping data assosiation time 26.478290 ms 
sort q time 7.640251 
seperate points time 13.699787 
publication time 7.864788 ms 
whole laserOdometry time 7.879884 ms 
 
-----t: 0.0420762
OdomCount 511 & avg odom time 0.038850 ms ++++++++++++++++++++++
1317357815.035712003 WriteOdom laser_odom_to_init
1317357815.035712003 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.002819 ms 
[0m[ INFO] [1718889898.043740119, 1317357815.138032814]: Received 92657 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889898.043783925, 1317357815.138032814]: Data saved to 1317357814932008.pcd[0m
prepare time 14.287446 
sort q time 6.233387 
seperate points time 12.364347 mapping data assosiation time 28.072856 ms 
-----t: 0.0535935
OdomCount 512 & avg odom time 0.038878 ms ++++++++++++++++++++++
1317357815.139436006 WriteOdom laser_odom_to_init
1317357815.139436006 WriteOdom aft_mapped_to_init_high_frec
publication time 26.293376 ms 
whole laserOdometry time 26.305323 ms 
 
mapping solver time 26.692434 ms 
--------------------stamp1317357815.243185997
points size 104309 
sort q time 6.047504 
seperate points time 13.585543 
mapping pub time 2.442731 ms -----t: 0.0453466
OdomCount 513 & avg odom time 0.038891 ms ++++++++++++++++++++++
mapping data assosiation time 21.805331 ms 
--------------------stamp1317357815.346915006
points size 104231 
sort q time 6.084516 
seperate points time 12.806414 
scan registration time 32.210211 ms *************
mapping data assosiation time 24.945890 ms 
publication time 8.915882 ms 
whole laserOdometry time 8.928922 ms 
 
mapping solver time 23.647607 ms 
filter time 5.250332 ms 
drop lidar frame in mapping for real time performance 
map prepare time 2.406837 ms
map corner num 69861  surf num 23874 
build tree time 13.623035 ms 
--------------------stamp1317357815.450640916
mapping data assosiation time 24.397912 ms 
points size 104132 
prepare time 13.498762 
scan registration time 32.195704 ms *************
mapping solver time 31.531878 ms 
publication time 10.523988 ms 
whole laserOdometry time 10.540892 ms 
 
mapping data assosiation time 26.209890 ms 
mapping solver time 21.021998 ms 
mapping optimization time 118.201845 
add points time 0.812374 ms
map prepare time 2.356597 ms
map corner num 70232  surf num 24003 
points size 103995 
sort q time 5.792172 
seperate points time 13.287715 
mapping data assosiation time 25.170027 ms 
publication time 9.088197 ms 
whole laserOdometry time 9.103467 ms 
 
1317357815.554369926 WriteOdom laser_odom_to_init
1317357815.554369926 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.180088 ms 
mapping data assosiation time 21.414913 ms 
--------------------stamp1317357815.658119916
points size 103735 
mapping pub time 2.488940 ms 
whole mapping time 119.650604 ms +++++
mappingCount 460 & avg mapping time 108.643211 ms ++++++++++++++++++++++
1317357815.450640917 WriteOdom aft_mapped_to_init
prepare time 13.884477 
sort q time 5.858308 
seperate points time 13.171474 
publication time 6.947967 ms 
whole laserOdometry time 6.961223 ms 
 
mapping data assosiation time 25.570219 ms 
-----t: 0.0492073
OdomCount 517 & avg odom time 0.038934 ms ++++++++++++++++++++++
1317357815.658119916 WriteOdom laser_odom_to_init
1317357815.658119916 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.369910 ms 
--------------------stamp1317357815.761892080
points size 103584 
mapping solver time 17.638608 ms 
filter time 6.662097 ms 
mapping pub time 9.762698 ms 
whole mapping time 130.460244 ms +++++
mappingCount 461 & avg mapping time 108.690547 ms ++++++++++++++++++++++
1317357815.761892080 WriteOdom laser_odom_to_init
1317357815.761892080 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.373997 ms 
--------------------stamp1317357815.865668058
points size 103356 
sort q time 5.772734 
seperate points time 12.680692 
mapping data assosiation time 25.083689 ms 
publication time 10.139615 ms 
whole laserOdometry time 10.157739 ms 
 
mapping solver time 18.723801 ms 
filter time 6.209509 ms 
map prepare time 2.880179 ms
map corner num 71550  surf num 24360 
build tree time 15.543193 ms 
--------------------stamp1317357815.969440937
mapping data assosiation time 23.408869 ms 
points size 103383 
prepare time 15.244472 
sort q time 6.450038 
seperate points time 13.095232 
scan registration time 33.914762 ms *************
mapping solver time 28.627013 ms 
mapping data assosiation time 26.656717 ms 
mapping solver time 17.250476 ms 
filter time 4.975003 ms 
mapping pub time 2.387456 ms 
whole mapping time 125.291572 ms +++++
mappingCount 463 & avg mapping time 108.768334 ms ++++++++++++++++++++++
1317357815.761892080 WriteOdom aft_mapped_to_init
points size 101853 
sort q time 5.783947 
seperate points time 12.967528 
mapping data assosiation time 30.152371 ms 
-----t: 0.0449064
OdomCount 521 & avg odom time 0.039038 ms ++++++++++++++++++++++
publication time 8.312248 ms 
whole laserOdometry time 8.324890 ms 
 
build tree time 21.766295 ms 
-----t: 0.0499357
OdomCount 522 & avg odom time 0.039059 ms ++++++++++++++++++++++
mapping data assosiation time 25.061236 ms 
mapping solver time 21.668465 ms 
--------------------stamp1317357816.280862092
points size 98287 
prepare time 10.995999 
mapping data assosiation time 23.814591 ms 
scan registration time 28.434810 ms *************
mapping solver time 21.935427 ms 
mapping optimization time 115.538092 
add points time 0.747842 ms
map prepare time 3.329327 ms
map corner num 72950  surf num 24768 
build tree time 15.893308 ms 
mapping data assosiation time 19.884453 ms 
--------------------stamp1317357816.384708881
points size 97431 
sort q time 5.266822 
seperate points time 12.089651 
mapping data assosiation time 25.530175 ms 
-----t: 0.0375392
OdomCount 524 & avg odom time 0.039070 ms ++++++++++++++++++++++
mapping solver time 22.070375 ms 
filter time 5.385175 ms 
map prepare time 2.296299 ms
map corner num 73376  surf num 24886 
build tree time 15.169860 ms 
--------------------stamp1317357816.488508939
mapping data assosiation time 24.780141 ms 
scan registration time 35.515495 ms *************
publication time 9.900816 ms 
whole laserOdometry time 9.916285 ms 
 
mapping data assosiation time 25.713980 ms 
mapping solver time 15.924172 ms 
mapping optimization time 110.433321 
add points time 0.750424 ms
map prepare time 2.363409 ms
map corner num 73911  surf num 25063 
--------------------stamp1317357816.592305898
points size 97639 
scan registration time 31.762943 ms *************
mapping data assosiation time 25.103854 ms 
-----t: 0.0434441
OdomCount 526 & avg odom time 0.039106 ms ++++++++++++++++++++++
1317357816.592305898 WriteOdom laser_odom_to_init
1317357816.592305898 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.567033 ms 
publication time 17.240978 ms 
whole laserOdometry time 17.249368 ms 
 
mapping data assosiation time 21.282430 ms 
mapping solver time 15.640799 ms 
filter time 5.502555 ms 
points size 97760 
build tree time 16.172927 ms 
sort q time 5.847912 
seperate points time 11.989574 
scan registration time 31.891175 ms *************
publication time 8.746120 ms 
whole laserOdometry time 8.759310 ms 
 
-----t: 0.0492675
OdomCount 527 & avg odom time 0.039125 ms ++++++++++++++++++++++
1317357816.696105003 WriteOdom laser_odom_to_init
1317357816.696105003 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.972736 ms 
--------------------stamp1317357816.799881935
points size 97882 
filter time 5.640973 ms 
prepare time 12.148176 
mapping pub time 2.410313 ms 
whole mapping time 112.276616 ms +++++
mappingCount 469 & avg mapping time 108.942816 ms ++++++++++++++++++++++
1317357816.592305899 WriteOdom aft_mapped_to_init
build tree time 19.843446 ms 
publication time 12.093196 ms 
whole laserOdometry time 12.108883 ms 
 
mapping data assosiation time 26.725085 ms 
-----t: 0.0665863
OdomCount 528 & avg odom time 0.039177 ms ++++++++++++++++++++++
1317357816.799881935 WriteOdom laser_odom_to_init
1317357816.799881935 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.274917 ms 
--------------------stamp1317357816.903677940
points size 97261 
mapping solver time 27.018472 ms 
filter time 7.332146 ms 
publication time 8.048099 ms 
whole laserOdometry time 8.063075 ms 
 
build tree time 17.547857 ms 
mapping data assosiation time 21.328866 ms 
--------------------stamp1317357817.007476091
mapping solver time 23.667363 ms 
sort q time 5.291949 
seperate points time 11.618394 
scan registration time 27.676918 ms *************
mapping data assosiation time 27.155671 ms 
publication time 8.187988 ms 
whole laserOdometry time 8.202468 ms 
 
-----t: 0.043899
OdomCount 530 & avg odom time 0.039213 ms ++++++++++++++++++++++
1317357817.007476091 WriteOdom laser_odom_to_init
1317357817.007476091 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 109.878279 
add points time 0.680733 ms
map prepare time 2.819268 ms
map corner num 75651  surf num 25719 
--------------------stamp1317357817.111252069
points size 92284 
mapping data assosiation time 24.861404 ms 
prepare time 11.970669 
sort q time 5.827107 
seperate points time 12.208944 
mapping solver time 28.866963 ms 
-----t: 0.0437927
OdomCount 531 & avg odom time 0.039222 ms ++++++++++++++++++++++
1317357817.111252069 WriteOdom laser_odom_to_init
1317357817.111252069 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.060688 ms 
mapping optimization time 119.090457 
add points time 0.779287 ms
--------------------stamp1317357817.215049982
points size 90241 
build tree time 19.521482 ms 
publication time 10.481211 ms 
whole laserOdometry time 10.500439 ms -----t: 0.0399955
OdomCount 532 & avg odom time 0.039224 ms ++++++++++++++++++++++
mapping solver time 24.619394 ms 
mapping data assosiation time 20.357988 ms 
--------------------stamp1317357817.318850040
points size 88273 
mapping solver time 26.409800 ms 
publication time 9.334021 ms 
whole laserOdometry time 9.346557 ms 
 
mapping data assosiation time 21.154307 ms 
mapping solver time 22.045651 ms 
points size 86907 
sort q time 4.953413 
seperate points time 11.506407 
mapping solver time 17.022227 ms 
filter time 6.445106 ms 
-----t: 0.0373119
OdomCount 534 & avg odom time 0.039220 ms ++++++++++++++++++++++
build tree time 15.714254 ms 
mapping data assosiation time 22.453736 ms 
--------------------stamp1317357817.526448011
prepare time 9.403616 
sort q time 5.254712 
seperate points time 10.553920 
publication time 6.853334 ms 
whole laserOdometry time 6.867704 ms 
 
mapping solver time 17.467513 ms 
mapping optimization time 109.858402 
add points time 0.696399 ms
map prepare time 2.376546 ms
map corner num 77439  surf num 26223 
build tree time 18.557923 ms 
--------------------stamp1317357817.630247116
mapping data assosiation time 25.301383 ms 
prepare time 10.674201 
mapping solver time 26.228629 ms 
-----t: 0.0371082
OdomCount 536 & avg odom time 0.039243 ms ++++++++++++++++++++++
1317357817.630247116 WriteOdom laser_odom_to_init
1317357817.630247116 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.871960 ms 
filter time 5.190517 ms 
map prepare time 2.285328 ms
map corner num 77841  surf num 26316 
--------------------stamp1317357817.734093904
points size 77649 
sort q time 4.796609 
seperate points time 9.702805 
publication time 5.898683 ms 
whole laserOdometry time 5.907964 ms 
 
mapping solver time 27.734468 ms 
-----t: 0.0456238
OdomCount 537 & avg odom time 0.039255 ms ++++++++++++++++++++++
1317357817.734093904 WriteOdom laser_odom_to_init
1317357817.734093904 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.448683 ms 
mapping solver time 21.659854 ms 
filter time 7.364584 ms 
sort q time 4.182806 
seperate points time 16.308451 
build tree time 21.652573 ms 
publication time 8.990886 ms 
whole laserOdometry time 9.004011 ms 
 
mapping data assosiation time 24.731344 ms 
-----t: 0.0378755
OdomCount 538 & avg odom time 0.039252 ms ++++++++++++++++++++++
1317357817.837939023 WriteOdom laser_odom_to_init
mapping solver time 19.816568 ms 
--------------------stamp1317357817.941785097
mapping data assosiation time 21.074507 ms 
prepare time 9.435187 
sort q time 4.673440 
seperate points time 9.104264 
scan registration time 23.007443 ms *************
mapping solver time 23.105253 ms 
mapping optimization time 111.713756 
add points time 0.755467 ms
map prepare time 3.195202 ms
map corner num 78951  surf num 26602 
-----t: 0.0413529
OdomCount 539 & avg odom time 0.039256 ms ++++++++++++++++++++++
build tree time 19.264410 ms 
1317357817.941785097 WriteOdom laser_odom_to_init
1317357817.941785097 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.619915 ms 
mapping solver time 20.762703 ms 
points size 74882 
mapping data assosiation time 23.558038 ms 
mapping solver time 16.647213 ms 
filter time 6.151059 ms 
mapping pub time 1.687881 ms 
whole mapping time 114.618945 ms +++++
mappingCount 479 & avg mapping time 109.286610 ms ++++++++++++++++++++++
1317357817.837939024 WriteOdom aft_mapped_to_init
-----t: 0.0331288
OdomCount 540 & avg odom time 0.039245 ms ++++++++++++++++++++++
1317357818.045680999 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317357818.045680999 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.120092 ms
map corner num 79428  surf num 26729 
build tree time 15.891689 ms 
mapping data assosiation time 20.232495 ms 
--------------------stamp1317357818.149600982
points size 73648 
prepare time 11.840933 
sort q time 4.905917 
seperate points time 9.287013 
mapping data assosiation time 25.331906 ms 
mapping solver time 12.252477 ms 
-----t: 0.0327794
OdomCount 541 & avg odom time 0.039233 ms ++++++++++++++++++++++
build tree time 15.152610 ms 
mapping data assosiation time 19.171376 ms 
--------------------stamp1317357818.253519058
points size 72824 
sort q time 3.756635 
seperate points time 8.912888 
mapping data assosiation time 23.091483 ms 
publication time 7.896580 ms 
whole laserOdometry time 7.909329 ms 
 
mapping solver time 20.604060 ms 
mapping optimization time 102.846507 
add points time 0.804297 ms
mapping pub time 8.042338 ms 
whole mapping time 119.378887 ms +++++
mappingCount 481 & avg mapping time 109.306942 ms ++++++++++++++++++++++
build tree time 15.943176 ms 
--------------------stamp1317357818.357438087
mapping data assosiation time 29.572118 ms 
scan registration time 25.605447 ms *************
-----t: 0.0330082
OdomCount 543 & avg odom time 0.039204 ms ++++++++++++++++++++++
mapping data assosiation time 22.503908 ms 
mapping solver time 19.205261 ms 
map prepare time 2.235668 ms
map corner num 80897  surf num 27153 
--------------------stamp1317357818.461380958
points size 71148 
sort q time 4.708074 
seperate points time 8.816476 
mapping data assosiation time 21.824979 ms 
publication time 11.107004 ms 
whole laserOdometry time 11.121091 ms 
 
mapping solver time 21.274757 ms 
mapping data assosiation time 18.475941 ms 
mapping solver time 12.852136 ms 
filter time 5.675595 ms 
--------------------stamp1317357818.565372943
points size 70662 
prepare time 10.584360 
sort q time 4.323050 
seperate points time 8.695555 
scan registration time 22.506176 ms *************
publication time 7.402749 ms 
whole laserOdometry time 7.414875 ms 
 
mapping solver time 21.388509 ms 
mapping data assosiation time 20.188303 ms 
-----t: 0.0710317
OdomCount 545 & avg odom time 0.039246 ms ++++++++++++++++++++++
filter time 5.281839 ms 
points size 67684 
prepare time 10.350919 
publication time 6.400676 ms 
whole laserOdometry time 6.413208 ms 
 
-----t: 0.0320922
OdomCount 546 & avg odom time 0.039233 ms ++++++++++++++++++++++
mapping solver time 20.790417 ms 
mapping data assosiation time 18.190106 ms 
mapping solver time 16.668032 ms 
filter time 7.441512 ms 
prepare time 9.819899 
sort q time 3.437580 
seperate points time 7.403780 
build tree time 20.030042 ms 
mapping data assosiation time 21.486980 ms 
-----t: 0.0394764
OdomCount 547 & avg odom time 0.039233 ms ++++++++++++++++++++++
1317357818.773423910 WriteOdom laser_odom_to_init
1317357818.773423910 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.271150 ms 
mapping data assosiation time 17.403815 ms 
--------------------stamp1317357818.877511024
points size 65610 
map prepare time 2.215122 ms
map corner num 82858  surf num 27731 
publication time 6.943136 ms 
whole laserOdometry time 6.969263 ms 
 
-----t: 0.034767
OdomCount 548 & avg odom time 0.039225 ms ++++++++++++++++++++++
1317357818.877511024 WriteOdom laser_odom_to_init
1317357818.877511024 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.244551 ms 
mapping solver time 21.865624 ms 
mapping data assosiation time 19.472740 ms 
points size 68838 
prepare time 9.921391 
filter time 7.549082 ms 
build tree time 20.093223 ms 
mapping data assosiation time 18.546193 ms 
mapping solver time 20.372288 ms 
--------------------stamp1317357819.085635900
mapping data assosiation time 20.166172 ms 
sort q time 4.293800 
seperate points time 9.417445 
scan registration time 27.546836 ms *************
mapping solver time 21.473203 ms 
mapping optimization time 101.804875 
add points time 0.672905 ms
mapping pub time 1.522175 ms 
whole mapping time 114.361364 ms +++++
mappingCount 488 & avg mapping time 109.353051 ms ++++++++++++++++++++++
-----t: 0.0340564
OdomCount 550 & avg odom time 0.039221 ms ++++++++++++++++++++++
1317357819.085635900 WriteOdom laser_odom_to_init
1317357819.085635900 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.112195 ms 
mapping data assosiation time 18.370846 ms 
mapping solver time 21.058461 ms 
points size 75047 
sort q time 4.306016 
seperate points time 9.853074 
mapping solver time 21.151859 ms 
filter time 7.129745 ms 
-----t: 0.0572036
OdomCount 551 & avg odom time 0.039254 ms ++++++++++++++++++++++
mapping data assosiation time 18.240982 ms 
--------------------stamp1317357819.293595075
prepare time 9.233693 
sort q time 4.760958 
seperate points time 9.595837 
mapping data assosiation time 21.945863 ms 
-----t: 0.0335521
OdomCount 552 & avg odom time 0.039244 ms ++++++++++++++++++++++
mapping solver time 20.754597 ms 
mapping optimization time 102.273422 
add points time 0.607276 ms
map prepare time 2.127036 ms
map corner num 85051  surf num 28342 
build tree time 16.795949 ms 
--------------------stamp1317357819.397537946
points size 78718 
sort q time 4.571216 
seperate points time 10.138703 
mapping solver time 22.786152 ms 
scan registration time 24.236869 ms *************
publication time 6.666569 ms 
whole laserOdometry time 6.681938 ms 
 
mapping solver time 17.252837 ms 
mapping optimization time 99.153835 
add points time 0.612640 ms
map prepare time 2.849401 ms
map corner num 85752  surf num 28583 
build tree time 22.565323 ms 
points size 82036 
prepare time 11.174345 
sort q time 7.119710 
seperate points time 12.886825 
mapping solver time 21.014094 ms 
mapping data assosiation time 20.603265 ms 
mapping solver time 12.796153 ms 
filter time 5.465510 ms 
--------------------stamp1317357819.605400085
prepare time 9.736990 
sort q time 4.726830 
seperate points time 10.120780 
publication time 8.145716 ms 
whole laserOdometry time 8.171450 ms 
 
mapping data assosiation time 19.130247 ms 
mapping solver time 12.918745 ms 
filter time 5.694232 ms 
mapping pub time 1.945887 ms 
whole mapping time 103.965756 ms +++++
mappingCount 493 & avg mapping time 109.369395 ms ++++++++++++++++++++++
1317357819.501456976 WriteOdom aft_mapped_to_init
--------------------stamp1317357819.709342002
build tree time 21.528621 ms 
prepare time 13.697303 
sort q time 4.657211 
seperate points time 11.186218 
publication time 7.591601 ms 
whole laserOdometry time 7.602469 ms 
 
mapping solver time 25.224963 ms 
mapping data assosiation time 23.949018 ms 
mapping solver time 20.807193 ms 
filter time 7.810856 ms 
mapping pub time 1.998452 ms 
whole mapping time 128.416517 ms +++++
mappingCount 494 & avg mapping time 109.407959 ms ++++++++++++++++++++++
1317357819.605400085 WriteOdom aft_mapped_to_init
sort q time 4.962540 
seperate points time 12.140962 
publication time 7.772860 ms 
whole laserOdometry time 7.789870 ms 
 
-----t: 0.0456269
OdomCount 557 & avg odom time 0.039299 ms ++++++++++++++++++++++
mapping solver time 25.396547 ms 
mapping data assosiation time 19.270800 ms 
points size 88974 
prepare time 14.564040 
mapping solver time 19.611205 ms 
mapping optimization time 108.271699 
mapping pub time 1.994226 ms 
whole mapping time 119.498736 ms +++++
mappingCount 495 & avg mapping time 109.428372 ms ++++++++++++++++++++++
publication time 9.100309 ms 
whole laserOdometry time 9.114641 ms 
 
-----t: 0.0401144
OdomCount 558 & avg odom time 0.039301 ms ++++++++++++++++++++++
mapping data assosiation time 29.185935 ms 
--------------------stamp1317357820.021147012
mapping solver time 23.718632 ms 
points size 92010 
mapping data assosiation time 24.140934 ms 
-----t: 0.0308912
OdomCount 559 & avg odom time 0.039286 ms ++++++++++++++++++++++
1317357820.021147012 WriteOdom laser_odom_to_init
1317357820.021147012 WriteOdom aft_mapped_to_init_high_frec
publication time 6.344640 ms 
whole laserOdometry time 6.358793 ms 
 
filter time 5.873252 ms 
map prepare time 2.435412 ms
map corner num 88341  surf num 29282 
build tree time 19.972771 ms 
--------------------stamp1317357820.125067949
mapping data assosiation time 20.572389 ms 
sort q time 5.227213 
seperate points time 11.936631 
scan registration time 29.649638 ms *************
publication time 8.418697 ms 
whole laserOdometry time 8.427814 ms 
 
mapping data assosiation time 23.916584 ms 
mapping solver time 31.621416 ms 
filter time 8.851897 ms 
map prepare time 3.449503 ms
map corner num 88799  surf num 29453 
prepare time 14.698467 
sort q time 5.406894 
seperate points time 12.368880 
publication time 6.758711 ms 
whole laserOdometry time 6.772507 ms 
 
mapping solver time 27.482432 ms 
--------------------stamp1317357820.332854986
points size 97018 
mapping solver time 19.143050 ms 
mapping pub time 2.193617 ms 
whole mapping time 130.068969 ms +++++
mappingCount 498 & avg mapping time 109.596053 ms ++++++++++++++++++++++
build tree time 13.755414 ms 
publication time 11.670839 ms 
whole laserOdometry time 11.683585 ms 
 
mapping data assosiation time 22.406526 ms 
mapping solver time 21.395741 ms 
--------------------stamp1317357820.436774015
sort q time 5.740215 
seperate points time 13.166526 
filter time 6.185337 ms 
mapping pub time 2.264787 ms 
whole mapping time 117.034216 ms +++++
mappingCount 499 & avg mapping time 109.610978 ms ++++++++++++++++++++++
1317357820.436774015 WriteOdom aft_mapped_to_init_high_frec
build tree time 12.613198 ms 
mapping data assosiation time 19.141550 ms 
mapping solver time 18.262284 ms 
points size 97324 
mapping data assosiation time 20.049786 ms 
scan registration time 31.670424 ms *************
filter time 5.621644 ms 
publication time 9.022859 ms 
whole laserOdometry time 9.035836 ms 
 
build tree time 13.099167 ms 
mapping data assosiation time 19.300381 ms 
mapping solver time 17.681830 ms 
points size 96421 
mapping data assosiation time 19.925741 ms 
sort q time 6.090930 
seperate points time 12.079391 
mapping solver time 16.704401 ms 
mapping optimization time 87.942706 
add points time 0.853936 ms
filter time 5.774876 ms 
mapping pub time 10.795147 ms 
whole mapping time 108.048574 ms +++++
mappingCount 501 & avg mapping time 109.587398 ms ++++++++++++++++++++++
build tree time 13.443427 ms 
mapping data assosiation time 18.722084 ms 
--------------------stamp1317357820.748456954
mapping solver time 20.204417 ms 
points size 94295 
sort q time 5.667036 
seperate points time 12.192218 
mapping solver time 15.629168 ms 
mapping pub time 2.329277 ms 
whole mapping time 102.738308 ms +++++
mappingCount 502 & avg mapping time 109.573782 ms ++++++++++++++++++++++
1317357820.540666103 WriteOdom aft_mapped_to_init
build tree time 14.308404 ms 
-----t: 0.0700402
OdomCount 566 & avg odom time 0.039434 ms ++++++++++++++++++++++
mapping data assosiation time 22.579663 ms 
--------------------stamp1317357820.852303981
points size 91356 
mapping solver time 27.036017 ms 
scan registration time 28.145627 ms *************
mapping data assosiation time 21.577135 ms 
mapping solver time 22.196355 ms 
filter time 5.833946 ms 
-----t: 0.0645691
OdomCount 567 & avg odom time 0.039478 ms ++++++++++++++++++++++
build tree time 10.928721 ms 
points size 88735 
sort q time 5.122944 
seperate points time 11.652478 
publication time 7.613545 ms 
whole laserOdometry time 7.625934 ms 
 
1317357820.956149101 WriteOdom laser_odom_to_init
1317357820.956149101 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.529973 ms 
mapping solver time 17.500040 ms 
mapping optimization time 100.274277 
add points time 0.627851 ms
filter time 4.513351 ms 
map prepare time 2.043375 ms
map corner num 61313  surf num 19889 
--------------------stamp1317357821.060020923
points size 85451 
prepare time 12.274749 
sort q time 4.754473 
seperate points time 11.763776 
publication time 8.190628 ms 
whole laserOdometry time 8.205008 ms 
 
mapping data assosiation time 22.632550 ms 
-----t: 0.070076
OdomCount 569 & avg odom time 0.039528 ms ++++++++++++++++++++++
1317357821.060020923 WriteOdom laser_odom_to_init
1317357821.060020923 WriteOdom aft_mapped_to_init_high_frec
filter time 5.199171 ms 
points size 81306 
build tree time 15.018188 ms 
sort q time 4.624596 
seperate points time 19.198625 
-----t: 0.0527628
OdomCount 570 & avg odom time 0.039551 ms ++++++++++++++++++++++
--------------------stamp1317357821.267764091
prepare time 9.682854 
map prepare time 2.260608 ms
map corner num 62261  surf num 20194 
build tree time 15.341504 ms 
publication time 16.293691 ms mapping solver time 26.308466 ms 
--------------------stamp1317357821.371634960
points size 75074 
prepare time 11.078595 
filter time 6.172076 ms 
-----t: 0.0445609
OdomCount 572 & avg odom time 0.039611 ms ++++++++++++++++++++++
1317357821.371634960 WriteOdom laser_odom_to_init
1317357821.371634960 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.716134 ms 
--------------------stamp1317357821.475506067
points size 74303 
sort q time 4.149984 
seperate points time 10.316089 
filter time 7.860081 ms 
-----t: 0.0463294
OdomCount 573 & avg odom time 0.039623 ms ++++++++++++++++++++++
build tree time 15.270570 ms 
mapping data assosiation time 20.353625 ms 
--------------------stamp1317357821.579377889
prepare time 9.611571 
sort q time 4.641711 
seperate points time 9.506670 
publication time 7.134411 ms 
whole laserOdometry time 7.148441 ms 
 
mapping solver time 17.033405 ms 
filter time 5.574198 ms 
mapping pub time 1.667250 ms 
whole mapping time 106.128440 ms +++++
mappingCount 509 & avg mapping time 109.642756 ms ++++++++++++++++++++++
1317357821.371634960 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 1.977218 ms
map corner num 63552  surf num 20586 
build tree time 15.080507 ms 
-----t: 0.0562678
OdomCount 574 & avg odom time 0.039652 ms ++++++++++++++++++++++
1317357821.579377889 WriteOdom laser_odom_to_init
1317357821.579377889 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.579527 ms 
--------------------stamp1317357821.683271884
mapping solver time 19.893467 ms 
sort q time 3.751656 
seperate points time 9.061688 
1317357821.683271884 WriteOdom laser_odom_to_init
1317357821.683271884 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.974865 ms 
mapping optimization time 94.347204 
add points time 0.670168 ms
publication time 5.727364 ms 
whole laserOdometry time 5.739931 ms 
 
build tree time 12.764742 ms 
mapping data assosiation time 17.788140 ms 
--------------------stamp1317357821.787189006
points size 73287 
sort q time 4.186353 
seperate points time 8.640836 
mapping data assosiation time 21.221637 ms 
publication time 6.624725 ms 
whole laserOdometry time 6.640053 ms 
 
mapping solver time 25.178563 ms 
mapping optimization time 101.288135 
add points time 0.644804 ms
filter time 4.944262 ms 
[0m[ INFO] [1718889904.747783426, 1317357821.845151378]: Received 85475 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889904.747949030, 1317357821.845151378]: Data saved to 1317357821683271.pcd[0m
-----t: 0.0700232
OdomCount 576 & avg odom time 0.039684 ms ++++++++++++++++++++++
map prepare time 1.979297 ms
map corner num 64570  surf num 20905 
--------------------stamp1317357821.891083002
prepare time 10.172493 
sort q time 3.761226 
seperate points time 8.887968 
publication time 6.899305 ms 
whole laserOdometry time 6.982994 ms 
 
mapping solver time 27.977186 ms 
mapping data assosiation time 18.861559 ms 
mapping solver time 18.445324 ms 
filter time 5.195450 ms 
points size 73067 
sort q time 3.907398 
seperate points time 9.599524 
scan registration time 26.601573 ms *************
publication time 12.402009 ms 
whole laserOdometry time 12.418527 ms 
 
mapping solver time 20.717971 ms 
mapping solver time 13.859285 ms 
filter time 5.091729 ms 
points size 76205 
sort q time 4.040376 
seperate points time 9.144043 
scan registration time 24.117923 ms *************
mapping data assosiation time 22.558580 ms 
-----t: 0.0305953
OdomCount 579 & avg odom time 0.039662 ms ++++++++++++++++++++++
mapping solver time 22.982903 ms 
mapping data assosiation time 18.339852 ms 
mapping solver time 18.153883 ms 
mapping pub time 1.902443 ms 
whole mapping time 109.609774 ms +++++
mappingCount 514 & avg mapping time 109.625959 ms ++++++++++++++++++++++
prepare time 11.604146 
sort q time 4.145301 
seperate points time 9.980791 
publication time 6.912675 ms 
whole laserOdometry time 6.933834 ms 
 
mapping solver time 25.395201 ms 
mapping data assosiation time 17.669386 ms 
--------------------stamp1317357822.306734085
add points time 0.707439 ms
map prepare time 1.968843 ms
map corner num 66407  surf num 21414 
scan registration time 26.729039 ms *************
build tree time 17.857646 ms 
-----t: 0.0317353
OdomCount 581 & avg odom time 0.039674 ms ++++++++++++++++++++++
mapping data assosiation time 19.769520 ms 
mapping solver time 21.501783 ms 
mapping data assosiation time 17.923735 ms 
--------------------stamp1317357822.410650968
mapping solver time 14.331153 ms 
mapping optimization time 92.491701 
add points time 0.743707 ms
points size 83710 
filter time 4.990283 ms 
scan registration time 36.741886 ms *************
publication time 14.845506 ms 
whole laserOdometry time 14.864990 ms 
 
mapping solver time 21.506537 ms 
-----t: 0.0736084
OdomCount 582 & avg odom time 0.039732 ms ++++++++++++++++++++++
--------------------stamp1317357822.514547109
points size 86667 
sort q time 5.303008 
seperate points time 11.300156 
mapping pub time 1.960699 ms 
whole mapping time 117.604036 ms +++++
mappingCount 517 & avg mapping time 109.635620 ms ++++++++++++++++++++++
publication time 7.216628 ms 
whole laserOdometry time 7.230763 ms 
 
build tree time 17.967956 ms 
mapping data assosiation time 21.652239 ms 
mapping solver time 21.187415 ms 
prepare time 11.960076 
sort q time 5.167037 
seperate points time 11.845172 
scan registration time 29.488725 ms *************
filter time 6.779784 ms 
map prepare time 3.294538 ms
map corner num 67583  surf num 21752 
build tree time 17.667811 ms 
mapping data assosiation time 21.761591 ms 
--------------------stamp1317357822.722335100
points size 93309 
sort q time 5.938919 
seperate points time 11.502172 
mapping data assosiation time 21.675101 ms 
publication time 9.436285 ms 
whole laserOdometry time 9.452707 ms 
 
filter time 4.605049 ms 
build tree time 12.571389 ms 
mapping data assosiation time 18.626652 ms 
points size 92856 
mapping solver time 22.967359 ms 
mapping data assosiation time 20.554704 ms 
publication time 10.886757 ms 
whole laserOdometry time 10.904699 ms 
 
mapping solver time 19.087755 ms 
mapping pub time 2.027017 ms 
whole mapping time 104.505387 ms +++++
mappingCount 520 & avg mapping time 109.652769 ms ++++++++++++++++++++++
build tree time 12.286307 ms 
mapping data assosiation time 18.904520 ms 
points size 93923 
mapping solver time 23.384930 ms 
scan registration time 30.999197 ms *************
mapping data assosiation time 21.980116 ms 
publication time 9.513924 ms 
whole laserOdometry time 9.530565 ms 
 
mapping solver time 19.850999 ms 
mapping optimization time 97.400887 
add points time 0.643878 ms
-----t: 0.0537374
OdomCount 587 & avg odom time 0.039757 ms ++++++++++++++++++++++
map prepare time 2.888598 ms
map corner num 68863  surf num 22114 
--------------------stamp1317357823.033925056
points size 95421 
mapping data assosiation time 21.711646 ms 
sort q time 5.788496 
seperate points time 12.564709 
scan registration time 30.877275 ms *************
mapping solver time 22.052878 ms 
publication time 9.215636 ms 
whole laserOdometry time 9.229805 ms 
 
mapping data assosiation time 21.995338 ms 
-----t: 0.0545166
OdomCount 588 & avg odom time 0.039782 ms ++++++++++++++++++++++
1317357823.033925056 WriteOdom laser_odom_to_init
1317357823.033925056 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.680465 ms 
filter time 6.630073 ms 
map prepare time 3.121774 ms
map corner num 69298  surf num 22231 
points size 95562 
build tree time 18.505873 ms 
prepare time 14.241270 
scan registration time 30.245203 ms *************
mapping data assosiation time 22.235234 ms 
publication time 7.202715 ms 
whole laserOdometry time 7.420080 ms 
mapping solver time 23.230676 ms 
mapping data assosiation time 22.990197 ms 
mapping solver time 17.852338 ms 
filter time 7.073305 ms 
prepare time 13.421775 
scan registration time 29.407066 ms *************
publication time 11.306370 ms 
whole laserOdometry time 11.322790 ms 
 
mapping data assosiation time 23.040504 ms 
mapping solver time 23.422107 ms 
mapping data assosiation time 20.841486 ms 
mapping solver time 14.838879 ms 
mapping pub time 2.176099 ms 
whole mapping time 112.893245 ms +++++
mappingCount 524 & avg mapping time 109.695826 ms ++++++++++++++++++++++
sort q time 5.030980 
seperate points time 12.048638 
build tree time 15.695609 ms 
publication time 7.908679 ms 
whole laserOdometry time 7.925369 ms 
 
mapping data assosiation time 19.669658 ms 
mapping solver time 18.248671 ms 
mapping data assosiation time 18.236758 ms 
mapping solver time 14.878377 ms 
mapping optimization time 87.954270 
points size 90552 
add points time 0.649684 ms
prepare time 12.784257 
filter time 5.996475 ms 
scan registration time 28.831622 ms *************
build tree time 16.118707 ms 
-----t: 0.0298279
OdomCount 592 & avg odom time 0.039770 ms ++++++++++++++++++++++
1317357823.449261903 WriteOdom laser_odom_to_init
1317357823.449261903 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.063570 ms 
mapping solver time 17.407552 ms 
mapping data assosiation time 18.053935 ms 
--------------------stamp1317357823.553064107
prepare time 10.468218 
map prepare time 2.331397 ms
map corner num 70776  surf num 22548 
build tree time 19.196755 ms 
-----t: 0.0374748
OdomCount 593 & avg odom time 0.039766 ms ++++++++++++++++++++++
mapping data assosiation time 20.164877 ms 
mapping solver time 17.362235 ms 
mapping data assosiation time 16.243809 ms 
--------------------stamp1317357823.656863927
points size 89727 
mapping pub time 2.054805 ms 
whole mapping time 103.728563 ms +++++
scan registration time 28.512998 ms *************
build tree time 16.983265 ms 
mapping data assosiation time 18.989145 ms 
mapping solver time 17.270704 ms 
mapping data assosiation time 17.138987 ms 
--------------------stamp1317357823.760660886
points size 89686 
filter time 5.663401 ms 
prepare time 12.717585 
scan registration time 30.393171 ms *************
publication time 10.199952 ms 
whole laserOdometry time 10.217750 ms mapping solver time 18.874569 ms 
mapping data assosiation time 18.336795 ms 
points size 90258 
filter time 4.883149 ms 
build tree time 13.524823 ms 
mapping data assosiation time 17.835599 ms 
mapping solver time 17.827168 ms 
mapping data assosiation time 17.468418 ms 
mapping solver time 14.591273 ms 
mapping pub time 1.989050 ms 
whole mapping time 92.621687 ms +++++
mappingCount 530 & avg mapping time 109.586253 ms ++++++++++++++++++++++
1317357823.760660887 WriteOdom aft_mapped_to_init
map prepare time 2.130334 ms
map corner num 72092  surf num 22764 
scan registration time 25.757066 ms *************
build tree time 16.244050 ms 
publication time 8.419851 ms 
whole laserOdometry time 8.461126 ms 
 
-----t: 0.0414866
OdomCount 597 & avg odom time 0.039750 ms ++++++++++++++++++++++
mapping solver time 21.600024 ms 
mapping data assosiation time 17.779085 ms 
--------------------stamp1317357824.072033882
mapping solver time 17.988271 ms 
[0m[ INFO] [1718889906.987142236, 1317357824.083101792]: Received 95276 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889906.987177891, 1317357824.083101792]: Data saved to 1317357823864435.pcd[0m
mapping pub time 3.820496 ms 
whole mapping time 106.987970 ms +++++
mappingCount 531 & avg mapping time 109.581383 ms ++++++++++++++++++++++
1317357823.864435911 WriteOdom aft_mapped_to_init
map prepare time 2.148784 ms
map corner num 71450  surf num 22046 
build tree time 15.784132 ms 
-----t: 0.0440609
OdomCount 598 & avg odom time 0.039757 ms ++++++++++++++++++++++
mapping solver time 18.053466 ms 
mapping data assosiation time 17.133168 ms 
mapping solver time 15.709480 ms 
map prepare time 2.166741 ms
map corner num 71756  surf num 22120 
build tree time 17.375147 ms 
publication time 11.470008 ms 
whole laserOdometry time 11.480142 ms 
 
mapping data assosiation time 19.881399 ms 
mapping solver time 17.183197 ms 
mapping data assosiation time 16.937929 ms 
--------------------stamp1317357824.279583930
mapping pub time 2.097184 ms 
whole mapping time 95.052301 ms +++++
mappingCount 533 & avg mapping time 109.536063 ms ++++++++++++++++++++++
sort q time 5.165879 
seperate points time 11.915261 
build tree time 15.831388 ms 
scan registration time 32.568859 ms *************
mapping data assosiation time 19.553479 ms 
mapping solver time 18.507884 ms 
mapping data assosiation time 15.303945 ms 
mapping solver time 17.294296 ms 
1317357824.175807953 WriteOdom aft_mapped_to_init
sort q time 5.003029 
seperate points time 11.216665 
-----t: 0.031232
OdomCount 601 & avg odom time 0.039747 ms ++++++++++++++++++++++
1317357824.383359909 WriteOdom laser_odom_to_init
1317357824.383359909 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.562140 ms 
publication time 7.373196 ms 
whole laserOdometry time 7.393478 ms 
 
mapping data assosiation time 15.757971 ms 
mapping solver time 17.570138 ms 
mapping pub time 2.366408 ms 
whole mapping time 97.763906 ms +++++
mappingCount 535 & avg mapping time 109.493993 ms ++++++++++++++++++++++
prepare time 12.855957 
sort q time 4.843145 
seperate points time 11.158731 
publication time 8.381372 ms 
whole laserOdometry time 11.477699 ms 
 
mapping data assosiation time 19.179046 ms 
mapping solver time 29.648095 ms 
mapping data assosiation time 17.769932 ms 
mapping solver time 13.367456 ms 
mapping optimization time 102.481379 
add points time 0.544607 ms
points size 88032 
prepare time 11.937466 
filter time 5.062305 ms 
sort q time 5.086728 
seperate points time 12.454038 
build tree time 17.113008 ms 
-----t: 0.0446469
OdomCount 603 & avg odom time 0.039797 ms ++++++++++++++++++++++
1317357824.590907096 WriteOdom laser_odom_to_init
1317357824.590907096 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.638232 ms 
mapping solver time 19.454089 ms 
mapping data assosiation time 17.937783 ms 
mapping solver time 14.652629 ms 
map prepare time 2.648708 ms
map corner num 73170  surf num 22464 
build tree time 17.715866 ms 
-----t: 0.038968
OdomCount 604 & avg odom time 0.039796 ms ++++++++++++++++++++++
1317357824.694680929 WriteOdom laser_odom_to_init
1317357824.694680929 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.745470 ms 
mapping solver time 16.101030 ms 
mapping data assosiation time 17.229712 ms 
--------------------stamp1317357824.798487901
filter time 5.312862 ms 
build tree time 18.103917 ms 
mapping data assosiation time 19.730230 ms 
mapping solver time 19.049513 ms 
-----t: 0.0637021
OdomCount 605 & avg odom time 0.039835 ms ++++++++++++++++++++++
mapping data assosiation time 17.503099 ms 
--------------------stamp1317357824.902287006
points size 88386 
filter time 4.912094 ms 
mapping pub time 1.942743 ms 
whole mapping time 102.373404 ms +++++
mappingCount 539 & avg mapping time 109.442711 ms ++++++++++++++++++++++
prepare time 10.284753 
1317357824.694680929 WriteOdom aft_mapped_to_init
map prepare time 2.444933 ms
map corner num 73806  surf num 22642 
sort q time 5.218356 
seperate points time 11.344497 
build tree time 18.081411 ms 
mapping data assosiation time 18.516110 ms 
mapping solver time 16.245094 ms 
mapping data assosiation time 15.810972 ms 
mapping solver time 12.515320 ms 
mapping pub time 2.458449 ms 
whole mapping time 94.445090 ms +++++
mappingCount 540 & avg mapping time 109.414943 ms ++++++++++++++++++++++
1317357824.798487902 WriteOdom aft_mapped_to_init
map prepare time 2.077398 ms
map corner num 74176  surf num 22750 
points size 86851 
sort q time 4.849030 
seperate points time 9.786198 
build tree time 16.421231 ms 
scan registration time 26.262174 ms *************
publication time 6.977147 ms 
whole laserOdometry time 6.997393 ms 
 
-----t: 0.0465774
OdomCount 607 & avg odom time 0.039844 ms ++++++++++++++++++++++
1317357825.006078958 WriteOdom laser_odom_to_init
1317357825.006078958 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.361623 ms 
mapping data assosiation time 16.689629 ms 
mapping solver time 15.545439 ms 
[0m[ INFO] [1718889908.013756967, 1317357825.112590452]: Received 97313 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889908.013815252, 1317357825.112590452]: Data saved to 1317357824902287.pcd[0m
prepare time 15.744341 
sort q time 4.767172 
seperate points time 11.066328 
scan registration time 31.851918 ms *************
1317357825.109875917 WriteOdom laser_odom_to_init
1317357825.109875917 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.337851 ms 
mapping solver time 18.434726 ms 
mapping data assosiation time 18.271044 ms 
mapping solver time 13.780544 ms 
map prepare time 2.499439 ms
map corner num 74817  surf num 22906 
sort q time 4.333069 
seperate points time 10.123853 
publication time 8.000746 ms 
whole laserOdometry time 8.014877 ms 
 
-----t: 0.0348647
OdomCount 609 & avg odom time 0.039833 ms ++++++++++++++++++++++
mapping data assosiation time 17.270062 ms 
mapping solver time 19.276569 ms 
mapping data assosiation time 17.052619 ms 
points size 76220 
filter time 5.548274 ms 
publication time 6.001553 ms 
whole laserOdometry time 6.013700 ms 
 
-----t: 0.0361771
OdomCount 610 & avg odom time 0.039827 ms ++++++++++++++++++++++
1317357825.317522048 WriteOdom laser_odom_to_init
1317357825.317522048 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.943700 ms 
mapping data assosiation time 16.141246 ms 
--------------------stamp1317357825.421392917
prepare time 8.782799 
filter time 4.960040 ms 
mapping pub time 1.801126 ms 
whole mapping time 93.574540 ms +++++
mappingCount 544 & avg mapping time 109.370036 ms ++++++++++++++++++++++
1317357825.213674068 WriteOdom aft_mapped_to_init
publication time 6.730826 ms 
whole laserOdometry time 6.747120 ms 
 
-----t: 0.0290244
OdomCount 611 & avg odom time 0.039809 ms ++++++++++++++++++++++
mapping data assosiation time 17.548512 ms 
mapping solver time 16.128466 ms 
mapping data assosiation time 15.656315 ms 
mapping solver time 15.900093 ms 
map prepare time 2.321447 ms
map corner num 75975  surf num 23209 
scan registration time 24.509966 ms *************
build tree time 19.016781 ms 
publication time 6.247441 ms 
whole laserOdometry time 6.266299 ms 
 
-----t: 0.0491621
OdomCount 612 & avg odom time 0.039825 ms ++++++++++++++++++++++
mapping data assosiation time 15.782094 ms 
mapping solver time 11.481718 ms 
[0m[ INFO] [1718889908.531169699, 1317357825.627696118]: Received 99721 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889908.531220429, 1317357825.627696118]: Data saved to 1317357825421392.pcd[0m
sort q time 3.181165 
seperate points time 6.897820 
publication time 5.266889 ms 
whole laserOdometry time 5.280046 ms 
 
-----t: 0.0343135
OdomCount 613 & avg odom time 0.039816 ms ++++++++++++++++++++++
mapping solver time 24.377613 ms 
mapping data assosiation time 20.235445 ms 
mapping optimization time 92.885212 
map prepare time 1.719145 ms
map corner num 48928  surf num 14782 
build tree time 10.977906 ms 
scan registration time 29.570461 ms *************
mapping data assosiation time 21.015919 ms 
-----t: 0.0335347
OdomCount 614 & avg odom time 0.039806 ms ++++++++++++++++++++++
1317357825.732959032 WriteOdom laser_odom_to_init
1317357825.732959032 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.850720 ms 
mapping data assosiation time 19.260582 ms 
mapping solver time 12.724842 ms 
points size 62018 
sort q time 3.460807 
seperate points time 8.436301 
mapping data assosiation time 19.843573 ms 
mapping solver time 19.322376 ms 
mapping data assosiation time 17.919181 ms 
-----t: 0.0655537
OdomCount 615 & avg odom time 0.039847 ms ++++++++++++++++++++++
filter time 3.579732 ms 
--------------------stamp1317357825.940654039
prepare time 9.260065 
sort q time 3.430100 
seperate points time 8.097928 
scan registration time 21.294523 ms *************
mapping data assosiation time 20.822806 ms 
publication time 5.829796 ms 
whole laserOdometry time 5.853755 ms 
 
mapping solver time 24.947688 ms 
mapping data assosiation time 17.124843 ms 
mapping solver time 19.108554 ms 
mapping pub time 1.419822 ms 
whole mapping time 101.242605 ms +++++
mappingCount 550 & avg mapping time 109.240419 ms ++++++++++++++++++++++
1317357825.836806059 WriteOdom aft_mapped_to_init
map prepare time 1.633942 ms
map corner num 50333  surf num 15154 
build tree time 10.958387 ms 
prepare time 9.527497 
sort q time 3.119599 
seperate points time 7.570105 
publication time 5.396995 ms 
whole laserOdometry time 5.410652 ms 
 
mapping solver time 20.809993 ms 
-----t: 0.0435568
OdomCount 617 & avg odom time 0.039841 ms ++++++++++++++++++++++
1317357826.044523954 WriteOdom laser_odom_to_init
1317357826.044523954 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.051237 ms 
mapping solver time 15.531270 ms 
mapping optimization time 87.363362 
add points time 0.673945 ms
filter time 3.787749 ms 
[0m[ INFO] [1718889909.025096603, 1317357826.120730144]: Received 66184 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889909.025145931, 1317357826.120730144]: Data saved to 1317357825940654.pcd[0m
build tree time 9.363713 ms 
--------------------stamp1317357826.148391962
prepare time 9.629025 
mapping data assosiation time 19.060495 ms 
mapping solver time 22.597986 ms 
-----t: 0.0387197
OdomCount 618 & avg odom time 0.039839 ms ++++++++++++++++++++++
1317357826.148391962 WriteOdom laser_odom_to_init
1317357826.148391962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.738370 ms 
mapping solver time 13.083618 ms 
map prepare time 1.606923 ms
map corner num 51365  surf num 15391 
build tree time 10.337116 ms 
--------------------stamp1317357826.252280950
prepare time 9.382733 
mapping solver time 20.683338 ms 
publication time 6.838528 ms 
whole laserOdometry time 6.850291 ms 
 
-----t: 0.0310924
OdomCount 619 & avg odom time 0.039825 ms ++++++++++++++++++++++
1317357826.252280950 WriteOdom laser_odom_to_init
1317357826.252280950 WriteOdom aft_mapped_to_init_high_frec
add points time 0.564574 ms
map prepare time 1.728080 ms
map corner num 51814  surf num 15491 
build tree time 10.840547 ms 
mapping data assosiation time 17.030691 ms 
points size 55076 
sort q time 2.833352 
seperate points time 6.614036 
publication time 5.115054 ms 
whole laserOdometry time 5.142598 ms 
 
-----t: 0.0263012
OdomCount 620 & avg odom time 0.039804 ms ++++++++++++++++++++++
mapping solver time 17.702012 ms 
1317357826.252280951 WriteOdom aft_mapped_to_init
build tree time 10.475454 ms 
mapping data assosiation time 17.201845 ms 
mapping solver time 17.277648 ms 
sort q time 2.803906 
seperate points time 6.407543 
mapping solver time 18.331925 ms 
map prepare time 1.597103 ms
map corner num 52533  surf num 15629 
build tree time 11.008546 ms 
mapping data assosiation time 15.409259 ms 
mapping solver time 19.775149 ms 
--------------------stamp1317357826.564187049
points size 59121 
sort q time 2.977081 
seperate points time 8.024414 
filter time 4.936977 ms 
-----t: 0.0277682
OdomCount 622 & avg odom time 0.039765 ms ++++++++++++++++++++++
build tree time 11.137596 ms 
mapping data assosiation time 15.657227 ms 
mapping solver time 17.713336 ms 
mapping data assosiation time 16.058007 ms 
scan registration time 21.203251 ms *************
1317357826.564187050 WriteOdom aft_mapped_to_init
1317357826.668203115 WriteOdom aft_mapped_to_init_high_frec
build tree time 10.345148 ms 
mapping data assosiation time 16.786752 ms 
mapping solver time 17.949315 ms 
--------------------stamp1317357826.772239923
points size 61246 
mapping data assosiation time 19.007685 ms 
prepare time 10.547684 
scan registration time 22.066624 ms *************
filter time 4.738210 ms 
publication time 6.198306 ms 
whole laserOdometry time 6.213972 ms 
 
build tree time 11.767008 ms 
mapping data assosiation time 16.221460 ms 
mapping solver time 16.473822 ms 
mapping data assosiation time 17.124109 ms 
sort q time 3.270510 
seperate points time 7.541900 
scan registration time 19.132736 ms *************
publication time 5.514999 ms 
whole laserOdometry time 5.542172 ms 
 
-----t: 0.0394041
OdomCount 625 & avg odom time 0.039722 ms ++++++++++++++++++++++
1317357826.876277923 WriteOdom laser_odom_to_init
1317357826.876277923 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.612495 ms
map corner num 54086  surf num 16027 
build tree time 11.097527 ms 
mapping data assosiation time 14.165121 ms 
mapping solver time 17.968802 ms 
points size 60363 
mapping data assosiation time 18.901394 ms 
publication time 5.228098 ms 
whole laserOdometry time 5.240976 ms 
 
filter time 5.243639 ms 
mapping pub time 1.470329 ms 
whole mapping time 90.938623 ms +++++
mappingCount 560 & avg mapping time 108.936695 ms ++++++++++++++++++++++
1317357826.876277924 WriteOdom aft_mapped_to_init
map prepare time 1.576785 ms
map corner num 54496  surf num 16136 
build tree time 11.447449 ms 
mapping data assosiation time 15.079340 ms 
mapping solver time 14.660567 ms 
--------------------stamp1317357827.084307909
points size 60647 
mapping solver time 11.418801 ms 
mapping pub time 8.024834 ms 
whole mapping time 84.287793 ms +++++
mappingCount 561 & avg mapping time 108.892766 ms ++++++++++++++++++++++
-----t: 0.0338612
OdomCount 627 & avg odom time 0.039698 ms ++++++++++++++++++++++
build tree time 13.886173 ms 
mapping data assosiation time 18.960155 ms 
--------------------stamp1317357827.188301086
prepare time 10.592103 
scan registration time 21.875953 ms *************
publication time 5.278049 ms 
whole laserOdometry time 5.301650 ms 
 
-----t: 0.0306577
OdomCount 628 & avg odom time 0.039684 ms ++++++++++++++++++++++
filter time 5.646328 ms 
mapping pub time 1.611763 ms 
whole mapping time 106.012142 ms +++++
mappingCount 562 & avg mapping time 108.887647 ms ++++++++++++++++++++++
1317357827.084307909 WriteOdom aft_mapped_to_init
map prepare time 2.129920 ms
map corner num 55279  surf num 16371 
build tree time 13.990970 ms 
mapping data assosiation time 19.240649 ms 
--------------------stamp1317357827.292243003
prepare time 10.396962 
scan registration time 21.555308 ms *************
publication time 7.475764 ms 
whole laserOdometry time 7.487852 ms 
 
filter time 5.648210 ms 
mapping pub time 1.519600 ms 
whole mapping time 97.232115 ms +++++
mappingCount 563 & avg mapping time 108.866954 ms ++++++++++++++++++++++
1317357827.188301086 WriteOdom aft_mapped_to_init
map prepare time 2.255047 ms
map corner num 55669  surf num 16467 
build tree time 14.016333 ms 
mapping data assosiation time 15.658527 ms 
mapping solver time 17.630091 ms 
points size 64297 
sort q time 3.376200 
seperate points time 7.949938 
scan registration time 20.851326 ms *************
filter time 4.569085 ms 
build tree time 10.137093 ms 
mapping data assosiation time 15.775465 ms 
mapping solver time 14.426606 ms 
--------------------stamp1317357827.500124931
prepare time 9.350999 
mapping solver time 16.397747 ms 
mapping optimization time 74.047853 
add points time 0.650529 ms
publication time 4.991951 ms 
whole laserOdometry time 5.005719 ms 
 
-----t: 0.0330698
OdomCount 631 & avg odom time 0.039634 ms ++++++++++++++++++++++
build tree time 10.459887 ms 
mapping data assosiation time 14.196329 ms 
mapping solver time 16.286434 ms 
--------------------stamp1317357827.604022979
points size 66678 
prepare time 9.445857 
filter time 4.785743 ms 
-----t: 0.0340104
OdomCount 632 & avg odom time 0.039625 ms ++++++++++++++++++++++
build tree time 11.252134 ms 
mapping data assosiation time 16.670054 ms 
mapping solver time 13.759185 ms 
--------------------stamp1317357827.707894086
points size 68805 
sort q time 3.569465 
seperate points time 8.759626 
scan registration time 25.689021 ms *************
mapping solver time 19.497161 ms 
publication time 5.541921 ms 
whole laserOdometry time 5.552886 ms 
 
-----t: 0.0388492
OdomCount 633 & avg odom time 0.039624 ms ++++++++++++++++++++++
build tree time 10.088876 ms 
mapping data assosiation time 15.048211 ms 
mapping solver time 17.315142 ms 
prepare time 9.602156 
mapping data assosiation time 18.746045 ms 
mapping solver time 17.547242 ms 
mapping optimization time 79.938274 
add points time 0.729353 ms
publication time 6.477892 ms 
whole laserOdometry time 6.502568 ms 
 
filter time 4.790791 ms 
mapping pub time 1.486546 ms 
whole mapping time 89.021561 ms +++++
mappingCount 568 & avg mapping time 108.682039 ms ++++++++++++++++++++++
1317357827.707894087 WriteOdom aft_mapped_to_init
-----t: 0.0308859
OdomCount 634 & avg odom time 0.039610 ms ++++++++++++++++++++++
1317357827.811764001 WriteOdom laser_odom_to_init
1317357827.811764001 WriteOdom aft_mapped_to_init_high_frec
build tree time 11.625721 ms 
mapping data assosiation time 15.850486 ms 
mapping solver time 14.515058 ms 
--------------------stamp1317357827.915610074
points size 72835 
mapping solver time 12.415148 ms 
mapping pub time 1.667766 ms 
whole mapping time 82.143033 ms +++++
mappingCount 569 & avg mapping time 108.635408 ms ++++++++++++++++++++++
publication time 6.367490 ms 
whole laserOdometry time 6.381214 ms 
 
-----t: 0.0410358
OdomCount 635 & avg odom time 0.039612 ms ++++++++++++++++++++++
1317357827.915610074 WriteOdom laser_odom_to_init
1317357827.915610074 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.813980 ms
map corner num 57766  surf num 17424 
build tree time 10.604869 ms 
mapping data assosiation time 14.524031 ms 
mapping solver time 13.965676 ms 
points size 73231 
mapping data assosiation time 18.094640 ms 
mapping solver time 16.937709 ms 
mapping optimization time 75.085794 
add points time 0.659455 ms
publication time 6.507770 ms 
whole laserOdometry time 6.522825 ms 
 
filter time 4.901312 ms 
mapping pub time 1.585475 ms 
whole mapping time 84.100842 ms +++++
mappingCount 570 & avg mapping time 108.592370 ms ++++++++++++++++++++++
1317357827.915610075 WriteOdom aft_mapped_to_init
map prepare time 1.769814 ms
map corner num 58121  surf num 17604 
build tree time 11.483195 ms 
mapping data assosiation time 15.308824 ms 
mapping solver time 15.833896 ms 
--------------------stamp1317357828.123186111
prepare time 10.208647 
sort q time 4.819657 
seperate points time 9.092722 
publication time 4.657097 ms 
whole laserOdometry time 4.671272 ms 
 
-----t: 0.0393974
OdomCount 637 & avg odom time 0.039598 ms ++++++++++++++++++++++
1317357828.123186111 WriteOdom laser_odom_to_init
1317357828.123186111 WriteOdom aft_mapped_to_init_high_frec
build tree time 14.043618 ms 
mapping data assosiation time 14.927388 ms 
mapping solver time 14.456403 ms 
points size 72249 
sort q time 4.265033 
seperate points time 9.290349 
scan registration time 25.252671 ms *************
mapping solver time 13.597470 ms 
mapping optimization time 76.297655 
add points time 0.693571 ms
publication time 6.362620 ms 
whole laserOdometry time 6.374596 ms 
 
map prepare time 1.738331 ms
map corner num 58768  surf num 18031 
build tree time 13.641715 ms 
mapping data assosiation time 16.116935 ms 
mapping solver time 14.201732 ms 
points size 72529 
sort q time 3.931324 
seperate points time 9.538541 
mapping solver time 17.734986 ms 
publication time 6.927082 ms 
whole laserOdometry time 6.937376 ms 
 
-----t: 0.0397925
OdomCount 639 & avg odom time 0.039591 ms ++++++++++++++++++++++
build tree time 10.945592 ms 
mapping data assosiation time 15.394484 ms 
--------------------stamp1317357828.434437990
mapping solver time 20.747630 ms 
points size 72775 
sort q time 6.039565 
seperate points time 15.205124 
filter time 4.320472 ms 
-----t: 0.0339437
OdomCount 640 & avg odom time 0.039582 ms ++++++++++++++++++++++
map prepare time 1.948501 ms
map corner num 59381  surf num 18446 
build tree time 12.729589 ms 
mapping data assosiation time 15.340141 ms 
mapping solver time 19.175343 ms 
points size 72128 
sort q time 4.985545 
seperate points time 9.465621 
mapping data assosiation time 18.845444 ms 
scan registration time 23.279825 ms *************
publication time 5.670983 ms 
whole laserOdometry time 5.687971 ms 
 
mapping pub time 1.801458 ms 
whole mapping time 95.572779 ms +++++
mappingCount 575 & avg mapping time 108.421425 ms ++++++++++++++++++++++
build tree time 10.595917 ms 
mapping data assosiation time 16.153662 ms 
mapping solver time 17.215606 ms 
--------------------stamp1317357828.641961097
points size 70087 
prepare time 10.295871 
mapping data assosiation time 19.901479 ms 
mapping solver time 18.166446 ms 
[0m[ INFO] [1718889911.580356969, 1317357828.679633286]: Received 79048 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889911.580445342, 1317357828.679633286]: Data saved to 1317357828538187.pcd[0m
map prepare time 1.717773 ms
map corner num 60065  surf num 18983 
build tree time 14.903489 ms 
mapping data assosiation time 17.525671 ms 
mapping solver time 14.364527 ms 
points size 68594 
sort q time 3.878231 
seperate points time 7.971242 
mapping solver time 14.272456 ms 
-----t: 0.0343485
OdomCount 643 & avg odom time 0.039540 ms ++++++++++++++++++++++
1317357828.745738029 WriteOdom laser_odom_to_init
1317357828.745738029 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.818076 ms
map corner num 60436  surf num 19291 
build tree time 12.128878 ms 
mapping data assosiation time 17.319822 ms 
mapping solver time 15.133772 ms 
points size 67479 
prepare time 12.004569 
mapping data assosiation time 21.429969 ms 
mapping solver time 13.823241 ms 
mapping pub time 1.504325 ms 
whole mapping time 90.231068 ms +++++
mappingCount 578 & avg mapping time 108.336072 ms ++++++++++++++++++++++
1317357828.745738029 WriteOdom aft_mapped_to_init
-----t: 0.0428186
OdomCount 644 & avg odom time 0.039545 ms ++++++++++++++++++++++
1317357828.849510908 WriteOdom laser_odom_to_init
1317357828.849510908 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.508970 ms
map corner num 60828  surf num 19555 
build tree time 14.136400 ms 
mapping data assosiation time 16.320281 ms 
--------------------stamp1317357828.953284978
points size 66697 
sort q time 3.694130 
seperate points time 8.513517 
mapping data assosiation time 20.804281 ms 
publication time 5.974194 ms 
whole laserOdometry time 5.989241 ms 
 
-----t: 0.0332123
OdomCount 645 & avg odom time 0.039535 ms ++++++++++++++++++++++
1317357828.953284978 WriteOdom laser_odom_to_init
mapping solver time 19.009742 ms 
1317357828.953284978 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 87.008960 
add points time 0.664757 ms
build tree time 10.727466 ms 
mapping data assosiation time 16.657221 ms 
--------------------stamp1317357829.057086944
prepare time 10.139138 
sort q time 3.819800 
seperate points time 8.093278 
publication time 7.663729 ms 
whole laserOdometry time 7.680798 ms 
 
mapping pub time 1.488804 ms 
whole mapping time 95.632897 ms +++++
mappingCount 580 & avg mapping time 108.293669 ms ++++++++++++++++++++++
map prepare time 2.439223 ms
map corner num 61693  surf num 20185 
build tree time 10.956270 ms 
mapping data assosiation time 17.585707 ms 
mapping solver time 16.235532 ms 
points size 65080 
sort q time 3.421719 
seperate points time 8.641361 
publication time 6.314979 ms 
whole laserOdometry time 6.329084 ms 
 
filter time 6.755408 ms 
[0m[ INFO] [1718889912.106487128, 1317357829.205330529]: Received 82683 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889912.106585796, 1317357829.205330529]: Data saved to 1317357829057086.pcd[0m
map prepare time 1.776793 ms
map corner num 62159  surf num 20524 
build tree time 11.579876 ms 
mapping data assosiation time 18.594846 ms 
--------------------stamp1317357829.264683008
prepare time 9.611655 
publication time 6.237216 ms 
whole laserOdometry time 6.251699 ms 
 
mapping data assosiation time 23.166059 ms 
mapping solver time 15.267570 ms 
mapping optimization time 88.353370 
1317357829.160883904 WriteOdom aft_mapped_to_init
-----t: 0.0516243
OdomCount 648 & avg odom time 0.039547 ms ++++++++++++++++++++++
build tree time 12.608486 ms 
--------------------stamp1317357829.368480920
points size 65709 
mapping data assosiation time 21.562344 ms 
prepare time 11.615094 
mapping solver time 21.095904 ms 
publication time 9.406174 ms 
whole laserOdometry time 9.432153 ms 
 
mapping solver time 12.498252 ms 
mapping pub time 1.542723 ms 
whole mapping time 101.872757 ms +++++
mappingCount 583 & avg mapping time 108.266434 ms ++++++++++++++++++++++
1317357829.264683008 WriteOdom aft_mapped_to_init
map prepare time 2.399379 ms
map corner num 63086  surf num 21148 
build tree time 14.166765 ms 
--------------------stamp1317357829.472255945
sort q time 3.658127 
seperate points time 8.771351 
mapping solver time 21.685355 ms 
publication time 10.305816 ms 
whole laserOdometry time 10.312532 ms 
 
-----t: 0.0388555
OdomCount 650 & avg odom time 0.039541 ms ++++++++++++++++++++++
mapping data assosiation time 21.940723 ms 
mapping solver time 13.041765 ms 
filter time 5.210501 ms 
mapping pub time 1.491429 ms 
whole mapping time 105.648860 ms +++++
mappingCount 584 & avg mapping time 108.261959 ms ++++++++++++++++++++++
1317357829.368480921 WriteOdom aft_mapped_to_init
map prepare time 1.875817 ms
map corner num 63587  surf num 21587 
build tree time 13.084942 ms 
--------------------stamp1317357829.576030969
points size 67356 
sort q time 3.741711 
seperate points time 8.845829 
publication time 6.743731 ms 
whole laserOdometry time 6.758048 ms 
 
mapping solver time 28.343308 ms 
-----t: 0.0405018
OdomCount 651 & avg odom time 0.039542 ms ++++++++++++++++++++++
1317357829.576030969 WriteOdom laser_odom_to_init
1317357829.576030969 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.695978 ms 
mapping solver time 18.209879 ms 
mapping optimization time 107.097909 
add points time 0.775122 ms
--------------------stamp1317357829.679780960
prepare time 11.016397 
sort q time 3.627058 
seperate points time 9.091569 
mapping data assosiation time 25.205284 ms 
publication time 6.541354 ms 
whole laserOdometry time 6.556091 ms 
 
-----t: 0.0284745
OdomCount 652 & avg odom time 0.039525 ms ++++++++++++++++++++++
1317357829.679780960 WriteOdom laser_odom_to_init
1317357829.679780960 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.294976 ms 
mapping data assosiation time 20.945312 ms 
mapping solver time 18.374440 ms 
[0m[ INFO] [1718889912.688217966, 1317357829.788728199]: Received 87064 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889912.688254055, 1317357829.788728199]: Data saved to 1317357829576030.pcd[0m
mapping pub time 3.064904 ms 
whole mapping time 119.176677 ms +++++
mappingCount 586 & avg mapping time 108.294620 ms ++++++++++++++++++++++
points size 69000 
prepare time 9.994479 
map prepare time 2.102525 ms
map corner num 64629  surf num 22435 
1317357829.576030970 WriteOdom aft_mapped_to_init
build tree time 13.487084 ms 
publication time 8.563316 ms 
whole laserOdometry time 8.691405 ms 
 
mapping solver time 18.854803 ms 
mapping data assosiation time 22.515082 ms 
--------------------stamp1317357829.887283086
prepare time 9.951967 
1317357829.679780960 WriteOdom aft_mapped_to_init
sort q time 13.416926 
seperate points time 19.643222 
build tree time 15.426351 ms 
scan registration time 39.797888 ms *************
publication time 6.880600 ms 
whole laserOdometry time 6.894914 ms 
 
mapping solver time 24.246025 ms 
--------------------stamp1317357829.991008996
prepare time 10.446050 
sort q time 13.718575 
seperate points time 18.350485 
mapping pub time 2.002404 ms 
whole mapping time 125.221548 ms +++++
mappingCount 588 & avg mapping time 108.329950 ms ++++++++++++++++++++++
-----t: 0.0380585
OdomCount 655 & avg odom time 0.039508 ms ++++++++++++++++++++++
build tree time 15.804166 ms 
mapping data assosiation time 21.416280 ms 
--------------------stamp1317357830.094734907
points size 72187 
scan registration time 25.335074 ms *************
publication time 6.485923 ms 
whole laserOdometry time 6.501901 ms 
 
-----t: 0.0345479
OdomCount 656 & avg odom time 0.039500 ms ++++++++++++++++++++++
mapping optimization time 115.600203 
mapping pub time 1.581234 ms 
whole mapping time 126.122994 ms +++++
mappingCount 589 & avg mapping time 108.360166 ms ++++++++++++++++++++++
1317357829.887283087 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.626876 ms
map corner num 66287  surf num 23543 
build tree time 12.023556 ms 
--------------------stamp1317357830.198462009
prepare time 11.717961 
sort q time 4.219950 
seperate points time 10.067241 
mapping solver time 28.969313 ms 
publication time 7.640209 ms 
whole laserOdometry time 7.673093 ms 
 
1317357830.198462009 WriteOdom laser_odom_to_init
1317357830.198462009 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.254851 ms 
mapping solver time 16.185762 ms 
filter time 5.489385 ms 
build tree time 12.668585 ms 
points size 74205 
prepare time 11.534548 
mapping data assosiation time 29.458682 ms 
publication time 7.552836 ms 
whole laserOdometry time 7.566225 ms 
 
-----t: 0.0399352
OdomCount 658 & avg odom time 0.039505 ms ++++++++++++++++++++++
mapping solver time 31.268642 ms 
mapping data assosiation time 24.226897 ms 
mapping solver time 15.908272 ms 
filter time 6.656531 ms 
sort q time 4.462600 
seperate points time 10.620929 
build tree time 17.179971 ms 
publication time 10.921408 ms 
whole laserOdometry time 10.946347 ms 
 
mapping data assosiation time 29.408673 ms 
mapping solver time 28.328183 ms 
points size 76160 
scan registration time 18.866057 ms *************
mapping solver time 19.133555 ms 
mapping optimization time 124.440151 
add points time 0.816987 ms
publication time 10.609840 ms 
whole laserOdometry time 10.624456 ms 
 
-----t: 0.0362025
OdomCount 660 & avg odom time 0.039511 ms ++++++++++++++++++++++
--------------------stamp1317357830.613497018
sort q time 5.348693 
seperate points time 10.046140 
publication time 6.882699 ms 
whole laserOdometry time 6.893861 ms 
 
-----t: 0.0359476
OdomCount 661 & avg odom time 0.039506 ms ++++++++++++++++++++++
mapping optimization time 121.428615 
add points time 0.774139 ms
filter time 4.921365 ms 
map prepare time 2.305446 ms
map corner num 68549  surf num 25116 
build tree time 13.866837 ms 
--------------------stamp1317357830.717237949
points size 77933 
sort q time 4.150620 
seperate points time 10.333809 
scan registration time 22.082093 ms *************
publication time 12.813576 ms 
whole laserOdometry time 12.827991 ms 
 
-----t: 0.0329009
OdomCount 662 & avg odom time 0.039496 ms ++++++++++++++++++++++
1317357830.717237949 WriteOdom laser_odom_to_init
1317357830.717237949 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.825647 ms 
mapping solver time 22.778056 ms 
filter time 7.638605 ms 
map prepare time 4.518290 ms
map corner num 69129  surf num 25562 
scan registration time 26.047255 ms *************
build tree time 20.654712 ms 
publication time 7.599467 ms 
whole laserOdometry time 7.617373 ms 
 
-----t: 0.0414028
OdomCount 663 & avg odom time 0.039499 ms ++++++++++++++++++++++
1317357830.820991039 WriteOdom laser_odom_to_init
1317357830.820991039 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.718764 ms 
mapping solver time 28.703532 ms 
points size 79700 
sort q time 4.559937 
seperate points time 10.275393 
publication time 8.398353 ms 
whole laserOdometry time 8.416563 ms 
 
mapping solver time 28.419983 ms 
mapping pub time 1.731605 ms 
whole mapping time 157.978088 ms +++++
mappingCount 595 & avg mapping time 108.639521 ms ++++++++++++++++++++++
1317357830.717237949 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.619610 ms
map corner num 69581  surf num 25806 
build tree time 13.157921 ms 
--------------------stamp1317357831.028541088
prepare time 10.450143 
sort q time 4.818800 
seperate points time 10.358832 
mapping solver time 29.798427 ms 
1317357831.028541088 WriteOdom laser_odom_to_init
1317357831.028541088 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.805497 ms 
mapping solver time 18.708256 ms 
filter time 4.824390 ms 
map prepare time 2.463998 ms
map corner num 69980  surf num 26063 
points size 81129 
sort q time 4.569103 
seperate points time 11.087124 
publication time 9.936990 ms 
whole laserOdometry time 9.947984 ms 
 
-----t: 0.0469873
OdomCount 666 & avg odom time 0.039496 ms ++++++++++++++++++++++
mapping solver time 27.465022 ms 
mapping data assosiation time 27.190896 ms 
points size 81841 
mapping solver time 20.492110 ms 
filter time 6.048319 ms 
build tree time 17.405793 ms 
-----t: 0.0535317
OdomCount 667 & avg odom time 0.039517 ms ++++++++++++++++++++++
mapping data assosiation time 30.235489 ms 
--------------------stamp1317357831.339862108
points size 82563 
prepare time 21.465063 
sort q time 4.868066 
seperate points time 11.660850 
mapping data assosiation time 46.649195 ms 
mapping solver time 20.557366 ms 
mapping pub time 1.883793 ms 
whole mapping time 155.841118 ms +++++
mappingCount 598 & avg mapping time 108.804679 ms ++++++++++++++++++++++
build tree time 12.764934 ms 
points size 83190 
sort q time 5.427225 
seperate points time 13.119849 
publication time 8.896578 ms 
whole laserOdometry time 8.910972 ms 
 
mapping solver time 34.871111 ms 
mapping data assosiation time 29.677394 ms 
--------------------stamp1317357831.547415018
points size 83965 
sort q time 4.823795 
seperate points time 9.895107 
filter time 6.808392 ms 
-----t: 0.0368653
OdomCount 670 & avg odom time 0.039513 ms ++++++++++++++++++++++
mapping data assosiation time 26.981926 ms 
--------------------stamp1317357831.651165008
points size 84519 
prepare time 9.420010 
mapping solver time 34.525620 ms 
publication time 8.475275 ms 
whole laserOdometry time 8.538643 ms 
 
mapping data assosiation time 32.883011 ms 
-----t: 0.0356871
OdomCount 671 & avg odom time 0.039507 ms ++++++++++++++++++++++
1317357831.651165008 WriteOdom laser_odom_to_init
1317357831.651165008 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.450032 ms 
mapping optimization time 140.432024 
add points time 0.940740 ms
map prepare time 2.502452 ms
map corner num 72057  surf num 27383 
--------------------stamp1317357831.754890918
prepare time 11.762787 
sort q time 4.923633 
seperate points time 11.471075 
mapping data assosiation time 33.786236 ms 
-----t: 0.0367593
OdomCount 672 & avg odom time 0.039503 ms ++++++++++++++++++++++
1317357831.754890918 WriteOdom laser_odom_to_init
1317357831.754890918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.470634 ms 
--------------------stamp1317357831.858592987
prepare time 10.745926 
mapping solver time 21.798236 ms 
[0m[ INFO] [1718889914.791403849, 1317357831.892135905]: Received 100334 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 17.683716 ms 
whole mapping time 168.065874 ms +++++
mappingCount 601 & avg mapping time 109.057898 ms ++++++++++++++++++++++
build tree time 15.837202 ms 
mapping data assosiation time 27.601882 ms 
points size 88454 
sort q time 5.077032 
seperate points time 12.754533 
publication time 13.097397 ms 
whole laserOdometry time 13.115220 ms 
 
mapping data assosiation time 35.218924 ms 
-----t: 0.0492643
OdomCount 674 & avg odom time 0.039516 ms ++++++++++++++++++++++
1317357831.962272882 WriteOdom laser_odom_to_init
1317357831.962272882 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.608616 ms 
filter time 5.836384 ms 
map prepare time 2.892680 ms
map corner num 73199  surf num 28112 
prepare time 11.897902 
build tree time 17.788811 ms 
sort q time 5.208181 
seperate points time 13.139590 
publication time 9.307364 ms 
whole laserOdometry time 9.320053 ms 
 
mapping data assosiation time 35.281194 ms 
-----t: 0.0593508
OdomCount 675 & avg odom time 0.039546 ms ++++++++++++++++++++++
mapping solver time 36.631166 ms 
--------------------stamp1317357832.169631958
points size 91611 
prepare time 11.740850 
sort q time 5.243380 
seperate points time 13.281596 
publication time 9.589701 ms 
whole laserOdometry time 9.609043 ms 
 
mapping solver time 33.794755 ms 
mapping optimization time 160.573339 
add points time 0.924708 ms
-----t: 0.0421259
OdomCount 676 & avg odom time 0.039550 ms ++++++++++++++++++++++
1317357832.169631958 WriteOdom laser_odom_to_init
1317357832.169631958 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.944791 ms
map corner num 73777  surf num 28462 
build tree time 13.687820 ms 
--------------------stamp1317357832.273336887
points size 93374 
mapping data assosiation time 35.023753 ms 
mapping solver time 41.070295 ms 
mapping data assosiation time 30.021441 ms 
--------------------stamp1317357832.377037048
points size 94996 
mapping solver time 29.465266 ms 
filter time 7.436103 ms 
-----t: 0.0488516
OdomCount 678 & avg odom time 0.039568 ms ++++++++++++++++++++++
mapping data assosiation time 34.104837 ms 
--------------------stamp1317357832.480714082
points size 96207 
mapping solver time 39.040313 ms 
scan registration time 32.311180 ms *************
publication time 9.255730 ms 
whole laserOdometry time 9.273130 ms 
 
-----t: 0.0506913
OdomCount 679 & avg odom time 0.039584 ms ++++++++++++++++++++++
1317357832.480714082 WriteOdom laser_odom_to_init
1317357832.480714082 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.899325 ms 
filter time 5.774277 ms 
points size 96559 
build tree time 16.264518 ms 
sort q time 5.849248 
seperate points time 13.155030 
scan registration time 30.389120 ms *************
publication time 8.807275 ms 
whole laserOdometry time 8.829624 ms 
 
mapping data assosiation time 34.847809 ms 
-----t: 0.054771
OdomCount 680 & avg odom time 0.039606 ms ++++++++++++++++++++++
mapping solver time 36.351179 ms 
--------------------stamp1317357832.688024044
prepare time 9.004177 
sort q time 5.982473 
seperate points time 13.383036 
publication time 9.940558 ms 
whole laserOdometry time 9.958621 ms 
 
-----t: 0.0418586
OdomCount 681 & avg odom time 0.039610 ms ++++++++++++++++++++++
[0m[ INFO] [1718889915.658341378, 1317357832.760288530]: Received 104813 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889915.658382939, 1317357832.760288530]: Data saved to 1317357832377037.pcd[0m
mapping pub time 3.723265 ms 
whole mapping time 172.622063 ms +++++
mappingCount 606 & avg mapping time 109.543504 ms ++++++++++++++++++++++
1317357832.377037048 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.874560 ms
map corner num 75438  surf num 29375 
build tree time 17.670703 ms 
points size 97170 
sort q time 5.724243 
seperate points time 13.769572 
mapping data assosiation time 35.972541 ms 
scan registration time 29.220509 ms *************
publication time 11.142482 ms 
whole laserOdometry time 11.154548 ms 
 
-----t: 0.0521154
OdomCount 682 & avg odom time 0.039628 ms ++++++++++++++++++++++
1317357832.791677951 WriteOdom laser_odom_to_init
1317357832.791677951 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.048959 ms 
--------------------stamp1317357832.895330905
prepare time 11.267212 
sort q time 6.013749 
seperate points time 13.257879 
mapping solver time 40.290674 ms 
mapping pub time 2.274299 ms 
whole mapping time 183.155105 ms +++++
mappingCount 607 & avg mapping time 109.664791 ms ++++++++++++++++++++++
build tree time 17.994050 ms 
--------------------stamp1317357832.999010086
points size 97384 
sort q time 5.786461 
seperate points time 14.532882 
mapping solver time 39.069042 ms 
publication time 19.878794 ms 
whole laserOdometry time 19.893411 ms 
 
-----t: 0.0667916
OdomCount 684 & avg odom time 0.039702 ms ++++++++++++++++++++++
points size 97507 
filter time 13.214147 ms 
sort q time 6.211208 
seperate points time 13.880422 
scan registration time 31.480191 ms *************
drop lidar frame in mapping for real time performance 
-----t: 0.051053
OdomCount 685 & avg odom time 0.039719 ms ++++++++++++++++++++++
1317357833.102691888 WriteOdom laser_odom_to_init
1317357833.102691888 WriteOdom aft_mapped_to_init_high_frec
points size 97402 
sort q time 5.490192 
seperate points time 13.889702 
mapping solver time 44.909272 ms 
publication time 10.229544 ms 
whole laserOdometry time 10.246681 ms 
 
mapping data assosiation time 31.482635 ms 
--------------------stamp1317357833.310000896
points size 97240 
prepare time 12.254471 
filter time 8.354404 ms 
sort q time 5.899475 
seperate points time 21.270207 
publication time 8.895053 ms 
whole laserOdometry time 8.908364 ms 
 
-----t: 0.0575158
OdomCount 687 & avg odom time 0.039747 ms ++++++++++++++++++++++
--------------------stamp1317357833.413703918
prepare time 10.346164 
sort q time 6.512403 
seperate points time 12.820156 
scan registration time 27.692495 ms *************
mapping data assosiation time 33.092853 ms 
publication time 9.627334 ms 
whole laserOdometry time 9.643459 ms 
 
mapping solver time 26.729322 ms 
filter time 6.553569 ms 
mapping pub time 2.220773 ms 
whole mapping time 159.744569 ms +++++
mappingCount 610 & avg mapping time 109.999977 ms ++++++++++++++++++++++
1317357833.102691889 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 14.336591 ms 
points size 94998 
sort q time 5.878833 
seperate points time 11.951585 
mapping data assosiation time 39.199069 ms 
publication time 9.656390 ms 
whole laserOdometry time 9.672517 ms 
 
mapping solver time 40.820281 ms 
--------------------stamp1317357833.621232986
points size 94236 
prepare time 10.377352 
sort q time 4.656305 
seperate points time 10.635710 
scan registration time 26.335475 ms *************
mapping solver time 45.314390 ms 
drop lidar frame in mapping for real time performance 
build tree time 15.225883 ms 
--------------------stamp1317357833.725028991
prepare time 10.490500 
sort q time 5.604987 
seperate points time 13.183273 
publication time 10.900226 ms 
whole laserOdometry time 10.913585 ms 
 
-----t: 0.0513112
OdomCount 691 & avg odom time 0.039812 ms ++++++++++++++++++++++
mapping data assosiation time 33.687101 ms 
--------------------stamp1317357833.828852891
points size 94444 
mapping pub time 2.530727 ms 
whole mapping time 161.384685 ms +++++
mappingCount 612 & avg mapping time 110.215620 ms ++++++++++++++++++++++
1317357833.517457008 WriteOdom aft_mapped_to_init
sort q time 5.975703 
seperate points time 12.373598 
map prepare time 3.959452 ms
map corner num 79293  surf num 31676 
build tree time 20.608728 ms 
publication time 18.371750 ms 
whole laserOdometry time 18.385355 ms 
 
-----t: 0.0611727
OdomCount 692 & avg odom time 0.039843 ms ++++++++++++++++++++++
--------------------stamp1317357833.932698011
prepare time 10.819479 
mapping solver time 40.121949 ms 
publication time 11.714847 ms 
whole laserOdometry time 11.730313 ms 
 
mapping data assosiation time 37.905760 ms 
-----t: 0.065881
OdomCount 693 & avg odom time 0.039881 ms ++++++++++++++++++++++
1317357833.932698011 WriteOdom laser_odom_to_init
1317357833.932698011 WriteOdom aft_mapped_to_init_high_frec
add points time 0.942197 ms
filter time 9.502854 ms 
sort q time 6.061152 
seperate points time 13.353133 
build tree time 19.591389 ms 
publication time 10.242895 ms 
whole laserOdometry time 10.260208 ms 
 
-----t: 0.0472029
OdomCount 694 & avg odom time 0.039891 ms ++++++++++++++++++++++
mapping data assosiation time 37.512361 ms 
--------------------stamp1317357834.140465021
points size 95796 
sort q time 5.464089 
seperate points time 13.831144 
mapping data assosiation time 37.197322 ms 
-----t: 0.0494418
OdomCount 695 & avg odom time 0.039905 ms ++++++++++++++++++++++
mapping solver time 31.889926 ms 
filter time 5.800962 ms 
map prepare time 3.839511 ms
map corner num 80686  surf num 32496 
points size 95853 
sort q time 5.711878 
seperate points time 14.207619 
mapping data assosiation time 36.674050 ms 
publication time 11.899837 ms 
whole laserOdometry time 11.916640 ms 
 
-----t: 0.0553027
OdomCount 696 & avg odom time 0.039927 ms ++++++++++++++++++++++
1317357834.244455099 WriteOdom laser_odom_to_init
1317357834.244455099 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 41.292330 ms 
--------------------stamp1317357834.348567008
points size 95866 
sort q time 5.992048 
seperate points time 12.514358 
mapping data assosiation time 36.675823 ms 
publication time 9.252177 ms 
whole laserOdometry time 9.269914 ms 
 
mapping solver time 36.874650 ms 
filter time 5.946474 ms 
mapping pub time 2.172055 ms 
whole mapping time 186.960036 ms +++++
mappingCount 615 & avg mapping time 110.593823 ms ++++++++++++++++++++++
1317357834.036569118 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 20.646252 ms 
points size 95982 
sort q time 6.313188 
seperate points time 12.596858 
publication time 10.055104 ms 
whole laserOdometry time 10.071531 ms 
 
-----t: 0.0432692
OdomCount 698 & avg odom time 0.039943 ms ++++++++++++++++++++++
1317357834.452725887 WriteOdom laser_odom_to_init
1317357834.452725887 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.439996 ms 
points size 96516 
sort q time 6.566372 
seperate points time 13.341173 
mapping solver time 38.854063 ms 
mapping optimization time 167.658979 
add points time 0.651728 ms
[0m[ INFO] [1718889917.505801619, 1317357834.604783334]: Received 115615 data points in frame camera_init with the following fields: x y z intensity[0m
build tree time 16.447471 ms 
--------------------stamp1317357834.661089897
prepare time 10.244833 
sort q time 5.762840 
seperate points time 13.772513 
mapping solver time 41.533473 ms 
-----t: 0.0523799
OdomCount 700 & avg odom time 0.039963 ms ++++++++++++++++++++++
mapping data assosiation time 32.353136 ms 
--------------------stamp1317357834.765252113
points size 94213 
prepare time 9.641900 
filter time 6.464844 ms 
map prepare time 2.863920 ms
map corner num 83073  surf num 33733 
sort q time 4.658138 
seperate points time 23.679518 
build tree time 21.326176 ms 
publication time 12.934998 ms 
whole laserOdometry time 12.950004 ms 
 
mapping data assosiation time 35.104607 ms 
--------------------stamp1317357834.869400024
points size 93509 
mapping solver time 38.969511 ms 
sort q time 5.510749 
seperate points time 12.567043 
scan registration time 28.139042 ms *************
publication time 9.597462 ms 
whole laserOdometry time 9.610381 ms 
 
mapping data assosiation time 36.473459 ms 
-----t: 0.0559594
OdomCount 702 & avg odom time 0.039995 ms ++++++++++++++++++++++
mapping solver time 30.801209 ms 
filter time 6.718745 ms 
map prepare time 2.985412 ms
map corner num 83834  surf num 34117 
points size 93077 
prepare time 9.622078 
sort q time 5.191655 
seperate points time 12.704532 
mapping data assosiation time 41.549411 ms 
mapping solver time 34.275475 ms 
--------------------stamp1317357835.077750921
points size 93381 
prepare time 11.752829 
sort q time 5.241062 
seperate points time 13.721494 
publication time 9.874095 ms 
whole laserOdometry time 9.892263 ms 
 
mapping solver time 36.010922 ms 
mapping optimization time 167.665060 
add points time 0.695656 ms
map prepare time 2.885160 ms
map corner num 84512  surf num 34335 
build tree time 16.553129 ms 
--------------------stamp1317357835.181931972
prepare time 11.285125 
sort q time 5.716498 
seperate points time 14.366063 
mapping data assosiation time 34.971533 ms 
scan registration time 31.371336 ms *************
publication time 9.193166 ms 
whole laserOdometry time 9.215010 ms 
 
-----t: 0.0466066
OdomCount 705 & avg odom time 0.040038 ms ++++++++++++++++++++++
mapping data assosiation time 27.172823 ms 
--------------------stamp1317357835.286113977
points size 93573 
sort q time 5.314856 
seperate points time 13.485446 
mapping solver time 34.356654 ms 
mapping optimization time 155.262077 
add points time 1.114685 ms
map prepare time 4.289837 ms
map corner num 85260  surf num 34540 
publication time 9.079257 ms 
whole laserOdometry time 9.095031 ms 
 
build tree time 21.264572 ms 
mapping data assosiation time 26.686732 ms 
--------------------stamp1317357835.390320062
points size 94155 
prepare time 11.112970 
mapping solver time 35.968608 ms 
publication time 9.711881 ms 
whole laserOdometry time 9.739715 ms 
 
mapping data assosiation time 34.999590 ms 
mapping solver time 32.489784 ms 
filter time 6.361458 ms 
points size 95453 
sort q time 5.448513 
seperate points time 13.291973 
build tree time 21.065010 ms 
mapping data assosiation time 35.084122 ms 
-----t: 0.0712739
OdomCount 708 & avg odom time 0.040088 ms ++++++++++++++++++++++
1317357835.494528055 WriteOdom laser_odom_to_init
1317357835.494528055 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357835.598733901
points size 97084 
prepare time 13.363655 
mapping solver time 48.260849 ms 
scan registration time 37.884059 ms *************
-----t: 0.0397565
OdomCount 709 & avg odom time 0.040088 ms ++++++++++++++++++++++
1317357835.598733901 WriteOdom laser_odom_to_init
1317357835.598733901 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.028326 ms 
filter time 6.179421 ms 
--------------------stamp1317357835.702918052
map prepare time 3.589462 ms
map corner num 86709  surf num 34972 
points size 99436 
build tree time 20.984958 ms 
scan registration time 31.636829 ms *************
publication time 10.033358 ms 
whole laserOdometry time 10.046449 ms 
 
mapping data assosiation time 35.078939 ms 
-----t: 0.0449821
OdomCount 710 & avg odom time 0.040095 ms ++++++++++++++++++++++
1317357835.702918052 WriteOdom laser_odom_to_init
1317357835.702918052 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.909443 ms 
--------------------stamp1317357835.807075977
points size 99976 
mapping data assosiation time 34.203457 ms 
--------------------stamp1317357835.911211967
points size 100195 
sort q time 6.121126 
seperate points time 13.170139 
publication time 7.892570 ms 
whole laserOdometry time 7.908889 ms 
 
-----t: 0.0481043
OdomCount 712 & avg odom time 0.040113 ms ++++++++++++++++++++++
mapping data assosiation time 29.286844 ms 
--------------------stamp1317357836.015299081
prepare time 10.479373 
filter time 6.845681 ms 
sort q time 6.189779 
seperate points time 13.759904 
publication time 10.743337 ms 
whole laserOdometry time 10.767803 ms 
 
1317357836.015299081 WriteOdom laser_odom_to_init
1317357836.015299081 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.455585 ms 
--------------------stamp1317357836.119335889
points size 99487 
prepare time 11.445445 
mapping solver time 30.173957 ms 
sort q time 6.008497 
seperate points time 12.384123 
publication time 9.321952 ms 
whole laserOdometry time 9.337457 ms 
 
-----t: 0.0534063
OdomCount 714 & avg odom time 0.040140 ms ++++++++++++++++++++++
filter time 6.417978 ms 
map prepare time 3.927951 ms
map corner num 89105  surf num 35619 
--------------------stamp1317357836.223352909
points size 99657 
sort q time 6.461285 
seperate points time 15.405290 
mapping data assosiation time 32.798769 ms 
-----t: 0.0405492
OdomCount 715 & avg odom time 0.040141 ms ++++++++++++++++++++++
1317357836.223352909 WriteOdom laser_odom_to_init
1317357836.223352909 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.436386 ms 
--------------------stamp1317357836.327373981
mapping data assosiation time 30.241758 ms 
points size 100212 
mapping solver time 22.454358 ms 
filter time 8.787681 ms 
map prepare time 3.929208 ms
map corner num 89752  surf num 35810 
build tree time 20.254109 ms 
mapping data assosiation time 29.666216 ms 
--------------------stamp1317357836.431385993
points size 101064 
sort q time 5.623799 
seperate points time 13.892738 
scan registration time 32.195773 ms *************
mapping solver time 41.883303 ms 
publication time 10.855181 ms 
whole laserOdometry time 10.868686 ms 
 
mapping data assosiation time 34.656078 ms 
mapping solver time 27.686521 ms 
filter time 7.100507 ms 
map prepare time 4.452064 ms
map corner num 90580  surf num 36067 
sort q time 5.832301 
seperate points time 14.298224 
publication time 14.505081 ms 
whole laserOdometry time 14.525126 ms 
 
-----t: 0.0505242
OdomCount 718 & avg odom time 0.040183 ms ++++++++++++++++++++++
mapping solver time 31.793882 ms 
sort q time 6.924490 
seperate points time 16.657526 
publication time 10.107663 ms 
whole laserOdometry time 10.121559 ms 
 
filter time 6.257587 ms 
map prepare time 2.847686 ms
map corner num 91272  surf num 36314 
build tree time 17.367190 ms 
points size 100244 
sort q time 6.325898 
seperate points time 14.022729 
publication time 8.729847 ms 
whole laserOdometry time 8.743302 ms 
 
-----t: 0.0401276
OdomCount 720 & avg odom time 0.040183 ms ++++++++++++++++++++++
mapping data assosiation time 29.913084 ms 
--------------------stamp1317357836.847368955
prepare time 10.062256 
mapping solver time 31.336598 ms 
mapping pub time 2.202601 ms 
whole mapping time 164.640548 ms +++++
mappingCount 629 & avg mapping time 111.982923 ms ++++++++++++++++++++++
-----t: 0.0428358
OdomCount 721 & avg odom time 0.040187 ms ++++++++++++++++++++++
mapping data assosiation time 30.934131 ms 
--------------------stamp1317357836.951337099
points size 98967 
mapping solver time 33.407017 ms 
sort q time 5.415122 
seperate points time 25.064222 
-----t: 0.0375374
OdomCount 722 & avg odom time 0.040183 ms ++++++++++++++++++++++
mapping solver time 29.673322 ms 
mapping optimization time 151.688947 
add points time 0.701389 ms
--------------------stamp1317357837.055325984
prepare time 10.230787 
sort q time 6.159472 
seperate points time 12.995139 
publication time 8.684437 ms 
whole laserOdometry time 8.701420 ms 
 
mapping data assosiation time 35.191581 ms 
-----t: 0.0550553
OdomCount 723 & avg odom time 0.040204 ms ++++++++++++++++++++++
1317357837.055325984 WriteOdom laser_odom_to_init
1317357837.055325984 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.183756 ms 
prepare time 9.871863 
sort q time 6.426310 
seperate points time 13.769309 
mapping data assosiation time 35.394752 ms 
publication time 8.950672 ms 
whole laserOdometry time 8.964221 ms 
 
mapping solver time 31.844242 ms 
mapping optimization time 170.362257 
add points time 0.678974 ms
-----t: 0.0572885
OdomCount 724 & avg odom time 0.040227 ms ++++++++++++++++++++++
1317357837.159317016 WriteOdom laser_odom_to_init
1317357837.159317016 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.949761 ms
map corner num 93654  surf num 37002 
--------------------stamp1317357837.263309001
prepare time 12.407445 
sort q time 9.550947 
seperate points time 18.307386 
-----t: 0.0392201
OdomCount 725 & avg odom time 0.040226 ms ++++++++++++++++++++++
mapping solver time 39.307623 ms 
--------------------stamp1317357837.367299079
mapping data assosiation time 34.291956 ms 
scan registration time 27.967717 ms *************
mapping solver time 34.138833 ms 
filter time 7.155248 ms 
-----t: 0.0518624
OdomCount 726 & avg odom time 0.040242 ms ++++++++++++++++++++++
build tree time 21.564887 ms 
--------------------stamp1317357837.471266031
prepare time 12.316873 
sort q time 5.492235 
seperate points time 13.491224 
scan registration time 31.979243 ms *************
publication time 10.999805 ms 
whole laserOdometry time 11.011741 ms 
 
-----t: 0.0434818
OdomCount 727 & avg odom time 0.040246 ms ++++++++++++++++++++++
mapping data assosiation time 29.172896 ms 
--------------------stamp1317357837.575207948
filter time 7.097664 ms 
sort q time 5.219889 
seperate points time 13.201012 
build tree time 22.951797 ms 
publication time 9.828931 ms 
whole laserOdometry time 9.841606 ms 
 
-----t: 0.0441597
OdomCount 728 & avg odom time 0.040252 ms ++++++++++++++++++++++
mapping data assosiation time 34.779031 ms 
mapping solver time 26.625532 ms 
points size 95211 
sort q time 5.406835 
seperate points time 13.000493 
publication time 8.849203 ms 
whole laserOdometry time 8.877446 ms 
 
mapping solver time 31.566445 ms 
filter time 6.799221 ms 
map prepare time 2.902682 ms
map corner num 96385  surf num 37980 
build tree time 18.761080 ms 
points size 94747 
sort q time 5.303459 
seperate points time 11.957188 
publication time 10.035405 ms 
whole laserOdometry time 10.049050 ms 
 
-----t: 0.0407059
OdomCount 730 & avg odom time 0.040249 ms ++++++++++++++++++++++
1317357837.783140897 WriteOdom laser_odom_to_init
1317357837.783140897 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.096514 ms 
mapping data assosiation time 29.146355 ms 
--------------------stamp1317357837.887130975
points size 93921 
sort q time 6.026380 
seperate points time 12.863139 
filter time 10.342023 ms 
publication time 10.094249 ms 
whole laserOdometry time 10.107426 ms 
 
-----t: 0.0360772
OdomCount 731 & avg odom time 0.040243 ms ++++++++++++++++++++++
mapping data assosiation time 29.837302 ms 
--------------------stamp1317357837.991075992
points size 93269 
prepare time 11.631714 
mapping solver time 29.981661 ms 
scan registration time 28.725493 ms *************
mapping data assosiation time 34.161711 ms 
mapping solver time 30.228082 ms 
filter time 8.762030 ms 
map prepare time 3.644819 ms
map corner num 97976  surf num 38632 
prepare time 10.198290 
sort q time 5.252338 
seperate points time 12.811005 
publication time 9.589203 ms 
whole laserOdometry time 9.602577 ms 
 
mapping data assosiation time 37.111737 ms 
mapping solver time 30.753302 ms 
--------------------stamp1317357838.198961973
prepare time 12.435794 
mapping data assosiation time 36.939951 ms 
mapping solver time 31.548823 ms 
filter time 9.278596 ms 
build tree time 19.092638 ms 
points size 92482 
sort q time 4.888629 
seperate points time 11.814035 
publication time 10.115506 ms 
whole laserOdometry time 10.132077 ms 
 
-----t: 0.0501326
OdomCount 735 & avg odom time 0.040285 ms ++++++++++++++++++++++
mapping data assosiation time 29.455915 ms 
--------------------stamp1317357838.406795978
points size 93435 
mapping solver time 28.227094 ms 
map prepare time 3.864076 ms
map corner num 99569  surf num 39452 
publication time 10.193713 ms 
whole laserOdometry time 10.223131 ms 
 
-----t: 0.0645428
OdomCount 736 & avg odom time 0.040318 ms ++++++++++++++++++++++
mapping data assosiation time 31.605499 ms 
points size 95063 
sort q time 5.639464 
seperate points time 13.081860 
publication time 12.370648 ms 
whole laserOdometry time 12.388393 ms 
 
-----t: 0.048531
OdomCount 737 & avg odom time 0.040329 ms ++++++++++++++++++++++
mapping solver time 29.586487 ms 
filter time 7.855099 ms 
prepare time 12.045290 
sort q time 5.824447 
seperate points time 12.943628 
publication time 9.072884 ms 
whole laserOdometry time 9.088396 ms 
 
-----t: 0.0466786
OdomCount 738 & avg odom time 0.040338 ms ++++++++++++++++++++++
mapping solver time 29.083454 ms 
points size 99336 
sort q time 6.530341 
seperate points time 16.265046 
publication time 9.664591 ms 
whole laserOdometry time 9.681187 ms 
 
mapping solver time 25.819484 ms 
filter time 7.318227 ms 
map prepare time 3.059924 ms
map corner num 101372  surf num 40173 
--------------------stamp1317357838.822328090
prepare time 11.914628 
sort q time 6.341204 
seperate points time 14.249776 
mapping data assosiation time 36.826462 ms 
publication time 11.762543 ms 
whole laserOdometry time 11.782093 ms 
 
mapping solver time 32.797606 ms 
--------------------stamp1317357838.926152944
points size 100467 
sort q time 6.380367 
seperate points time 14.146239 
mapping solver time 38.086539 ms 
mapping optimization time 165.893000 
add points time 0.749819 ms
mapping pub time 17.632731 ms 
whole mapping time 197.443452 ms +++++
mappingCount 641 & avg mapping time 113.129767 ms ++++++++++++++++++++++
build tree time 20.078296 ms 
--------------------stamp1317357839.029927015
prepare time 10.149371 
sort q time 5.918867 
seperate points time 13.279635 
publication time 10.486026 ms 
whole laserOdometry time 10.500610 ms 
 
-----t: 0.042297
OdomCount 742 & avg odom time 0.040341 ms ++++++++++++++++++++++
--------------------stamp1317357839.133651971
points size 100516 
sort q time 10.638317 
seperate points time 19.782643 
filter time 10.109470 ms 
1317357838.822328091 WriteOdom aft_mapped_to_init
build tree time 26.250699 ms 
--------------------stamp1317357839.237330913
mapping data assosiation time 34.871585 ms 
sort q time 6.236814 
seperate points time 15.406325 
publication time 12.460463 ms 
whole laserOdometry time 12.473062 ms 
 
-----t: 0.0607301
OdomCount 744 & avg odom time 0.040476 ms ++++++++++++++++++++++
points size 98544 
sort q time 5.794088 
seperate points time 13.963613 
filter time 9.703414 ms 
publication time 11.393331 ms 
whole laserOdometry time 11.405340 ms 
 
-----t: 0.0461019
OdomCount 745 & avg odom time 0.040483 ms ++++++++++++++++++++++
build tree time 25.474822 ms 
--------------------stamp1317357839.444617986
prepare time 12.635125 
sort q time 5.088907 
seperate points time 12.870403 
mapping solver time 33.140394 ms 
-----t: 0.0458733
OdomCount 746 & avg odom time 0.040491 ms ++++++++++++++++++++++
1317357839.444617986 WriteOdom laser_odom_to_init
1317357839.444617986 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.740301 ms 
mapping solver time 23.211054 ms 
mapping optimization time 148.986817 
add points time 1.058017 ms
map prepare time 3.389187 ms
map corner num 105246  surf num 41904 
sort q time 5.521472 
seperate points time 12.604091 
build tree time 26.781817 ms 
publication time 9.186609 ms 
whole laserOdometry time 9.202879 ms 
 
-----t: 0.0406357
OdomCount 747 & avg odom time 0.040491 ms ++++++++++++++++++++++
mapping data assosiation time 32.358132 ms 
mapping solver time 31.898057 ms 
points size 90482 
sort q time 4.465147 
seperate points time 11.039050 
mapping data assosiation time 34.111621 ms 
publication time 9.627553 ms 
whole laserOdometry time 9.644771 ms 
 
-----t: 0.039041
OdomCount 748 & avg odom time 0.040489 ms ++++++++++++++++++++++
mapping solver time 37.927347 ms 
filter time 7.372108 ms 
map prepare time 2.991676 ms
map corner num 106248  surf num 42379 
--------------------stamp1317357839.755558967
points size 87420 
sort q time 4.800752 
seperate points time 11.273636 
publication time 8.306047 ms 
whole laserOdometry time 8.322665 ms 
 
-----t: 0.0521003
OdomCount 749 & avg odom time 0.040504 ms ++++++++++++++++++++++
mapping solver time 35.669820 ms 
--------------------stamp1317357839.859235048
prepare time 9.197442 
sort q time 4.827453 
seperate points time 11.327683 
mapping solver time 29.399331 ms 
filter time 10.297121 ms 
1317357839.548273087 WriteOdom aft_mapped_to_init
1317357839.859235048 WriteOdom laser_odom_to_init
--------------------stamp1317357839.962937116
prepare time 10.220388 
sort q time 4.511642 
seperate points time 10.941068 
mapping solver time 36.523435 ms 
-----t: 0.0460196
OdomCount 751 & avg odom time 0.040507 ms ++++++++++++++++++++++
mapping data assosiation time 29.517044 ms 
mapping solver time 18.130115 ms 
mapping optimization time 136.974663 
add points time 0.915430 ms
--------------------stamp1317357840.066664934
points size 84390 
sort q time 5.691991 
seperate points time 11.054345 
scan registration time 22.141805 ms *************
publication time 8.926330 ms 
whole laserOdometry time 8.941271 ms 
 
mapping data assosiation time 30.907415 ms 
-----t: 0.0577315
OdomCount 752 & avg odom time 0.040530 ms ++++++++++++++++++++++
mapping solver time 29.738526 ms 
--------------------stamp1317357840.170368909points size 85911 
sort q time 5.428688 
seperate points time 16.035834 
publication time 9.377444 ms 
whole laserOdometry time 9.391191 ms 
 
mapping solver time 32.278661 ms 
filter time 9.335815 ms 
--------------------stamp1317357840.274048089
points size 87011 
sort q time 5.210109 
seperate points time 10.884385 
publication time 10.712643 ms 
whole laserOdometry time 10.727400 ms 
 
-----t: 0.0405872
OdomCount 754 & avg odom time 0.040555 ms ++++++++++++++++++++++
mapping solver time 28.164362 ms 
mapping data assosiation time 26.666506 ms 
points size 89250 
mapping solver time 25.617099 ms 
filter time 9.734329 ms 
map prepare time 3.972431 ms
map corner num 107708  surf num 40930 
publication time 14.607010 ms 
whole laserOdometry time 14.621547 ms 
 
-----t: 0.0417753
OdomCount 755 & avg odom time 0.040557 ms ++++++++++++++++++++++
1317357840.377751111 WriteOdom laser_odom_to_init
1317357840.377751111 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.301608 ms 
--------------------stamp1317357840.481477975
points size 92059 
mapping solver time 29.099460 ms 
publication time 11.780887 ms 
whole laserOdometry time 11.799320 ms 
 
mapping solver time 23.673614 ms 
filter time 8.102488 ms 
mapping pub time 2.027112 ms 
whole mapping time 153.801010 ms +++++
mappingCount 650 & avg mapping time 113.950191 ms ++++++++++++++++++++++
1317357840.274048090 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357840.585206985
points size 94316 
sort q time 5.287106 
seperate points time 13.101651 
publication time 6.810097 ms 
whole laserOdometry time 6.826737 ms 
 
-----t: 0.0450375
OdomCount 757 & avg odom time 0.040564 ms ++++++++++++++++++++++
1317357840.585206985 WriteOdom laser_odom_to_init
1317357840.585206985 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.609134 ms 
points size 96199 
prepare time 12.589546 
sort q time 5.497090 
seperate points time 13.930578 
map prepare time 3.527974 ms
map corner num 109586  surf num 41935 
publication time 10.013470 ms 
whole laserOdometry time 10.035059 ms 
 
build tree time 28.386990 ms 
mapping data assosiation time 26.249767 ms 
points size 98377 
mapping solver time 28.220559 ms 
scan registration time 41.150098 ms *************
mapping data assosiation time 33.604280 ms 
-----t: 0.0546347
OdomCount 759 & avg odom time 0.040606 ms ++++++++++++++++++++++
filter time 8.633084 ms 
map prepare time 3.908853 ms
map corner num 110516  surf num 42600 
points size 100520 
build tree time 26.810567 ms 
sort q time 6.004272 
seperate points time 13.785585 
scan registration time 29.770101 ms *************
mapping data assosiation time 29.518138 ms 
publication time 11.295831 ms 
whole laserOdometry time 11.310263 ms 
 
-----t: 0.0402156
OdomCount 760 & avg odom time 0.040606 ms ++++++++++++++++++++++
1317357840.896552085 WriteOdom laser_odom_to_init
1317357840.896552085 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.619974 ms 
--------------------stamp1317357841.000349998
points size 101522 
prepare time 10.595665 
sort q time 5.594321 
seperate points time 13.246263 
map prepare time 3.826861 ms
map corner num 111360  surf num 43088 
-----t: 0.0490801
OdomCount 761 & avg odom time 0.040617 ms ++++++++++++++++++++++
mapping data assosiation time 26.489205 ms 
points size 101534 
mapping solver time 27.226308 ms 
publication time 10.794126 ms 
whole laserOdometry time 10.806772 ms 
 
-----t: 0.0493279
OdomCount 762 & avg odom time 0.040628 ms ++++++++++++++++++++++
1317357841.104195117 WriteOdom laser_odom_to_init
1317357841.104195117 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.203553 ms 
mapping optimization time 148.912790 
add points time 0.958145 ms
drop lidar frame in mapping for real time performance 
points size 101491 
sort q time 7.133150 
seperate points time 14.134899 
publication time 8.194183 ms 
whole laserOdometry time 8.210865 ms 
 
mapping data assosiation time 31.625538 ms 
mapping solver time 28.221816 ms 
--------------------stamp1317357841.311964035
prepare time 11.056700 
sort q time 6.877059 
seperate points time 14.123337 
scan registration time 31.495241 ms *************
mapping solver time 27.267311 ms 
filter time 11.153025 ms 
build tree time 22.862273 ms 
--------------------stamp1317357841.415884017
points size 101652 
prepare time 16.490439 
sort q time 5.928550 
seperate points time 14.531431 
-----t: 0.044159
OdomCount 765 & avg odom time 0.040662 ms ++++++++++++++++++++++
mapping data assosiation time 26.997107 ms 
--------------------stamp1317357841.519850015
prepare time 10.573409 
mapping pub time 4.819582 ms 
whole mapping time 163.673647 ms +++++
mappingCount 656 & avg mapping time 114.361706 ms ++++++++++++++++++++++
sort q time 5.903385 
seperate points time 24.161036 
build tree time 27.507833 ms 
mapping data assosiation time 30.557749 ms 
--------------------stamp1317357841.623840093
points size 101359 
sort q time 5.807228 
seperate points time 14.394781 
mapping data assosiation time 34.999157 ms 
-----t: 0.0507635
OdomCount 767 & avg odom time 0.040680 ms ++++++++++++++++++++++
1317357841.623840093 WriteOdom laser_odom_to_init
1317357841.623840093 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.078370 ms 
filter time 7.801495 ms 
map prepare time 3.235488 ms
map corner num 115431  surf num 45997 
--------------------stamp1317357841.727828979
points size 101554 
sort q time 11.116004 
seperate points time 20.353293 
publication time 8.818183 ms 
whole laserOdometry time 8.830583 ms 
 
-----t: 0.0538102
OdomCount 768 & avg odom time 0.040697 ms ++++++++++++++++++++++
mapping solver time 33.466291 ms 
--------------------stamp1317357841.831867933
points size 101929 
mapping data assosiation time 37.479507 ms 
publication time 9.673987 ms 
whole laserOdometry time 9.682025 ms 
 
mapping solver time 31.052614 ms 
-----t: 0.042166
OdomCount 769 & avg odom time 0.040699 ms ++++++++++++++++++++++
1317357841.831867933 WriteOdom laser_odom_to_init
mapping optimization time 172.089518 
1317357841.831867933 WriteOdom aft_mapped_to_init_high_frec
add points time 1.038524 ms
mapping pub time 2.230223 ms 
whole mapping time 186.774539 ms +++++
mappingCount 658 & avg mapping time 114.554625 ms ++++++++++++++++++++++
build tree time 23.480094 ms 
points size 101419 
sort q time 6.530321 
seperate points time 12.930310 
scan registration time 30.525811 ms *************
mapping data assosiation time 37.877784 ms 
-----t: 0.0400313
OdomCount 770 & avg odom time 0.040698 ms ++++++++++++++++++++++
mapping solver time 37.401917 ms 
mapping data assosiation time 31.406118 ms 
points size 101112 
prepare time 13.648120 
mapping optimization time 160.684365 
filter time 11.811189 ms 
map prepare time 4.136042 ms
map corner num 117576  surf num 47241 
build tree time 23.822057 ms 
--------------------stamp1317357842.143984079
points size 100655 
sort q time 5.641816 
seperate points time 13.110750 
scan registration time 27.933034 ms *************
publication time 13.034751 ms 
whole laserOdometry time 13.050659 ms 
 
-----t: 0.0537798
OdomCount 772 & avg odom time 0.040715 ms ++++++++++++++++++++++
mapping solver time 28.174330 ms 
filter time 9.429172 ms 
map prepare time 3.593854 ms
map corner num 118734  surf num 47746 
sort q time 5.923802 
seperate points time 13.756335 
build tree time 28.660071 ms 
publication time 9.133381 ms 
whole laserOdometry time 9.151024 ms 
 
mapping data assosiation time 32.977923 ms 
--------------------stamp1317357842.352061033
prepare time 11.084530 
sort q time 6.367355 
seperate points time 13.004169 
mapping data assosiation time 35.188089 ms 
publication time 9.882413 ms 
whole laserOdometry time 9.897707 ms 
 
-----t: 0.050872
OdomCount 774 & avg odom time 0.040731 ms ++++++++++++++++++++++
1317357842.352061033 WriteOdom laser_odom_to_init
1317357842.352061033 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.893497 ms 
mapping optimization time 159.149992 
add points time 1.116891 ms
filter time 8.500687 ms 
mapping pub time 17.136235 ms 
whole mapping time 189.564068 ms +++++
mappingCount 661 & avg mapping time 114.850098 ms ++++++++++++++++++++++
points size 99849 
sort q time 6.059833 
seperate points time 13.791960 
publication time 8.036486 ms 
whole laserOdometry time 8.050789 ms 
 
mapping data assosiation time 34.973454 ms 
mapping solver time 31.850560 ms 
points size 98023 
sort q time 5.821911 
seperate points time 17.253628 
publication time 10.299147 ms 
whole laserOdometry time 10.312161 ms 
 
mapping solver time 32.436411 ms 
mapping optimization time 167.022775 
add points time 1.089994 ms
filter time 8.425051 ms 
-----t: 0.0545368
OdomCount 776 & avg odom time 0.040759 ms ++++++++++++++++++++++
map prepare time 4.122243 ms
map corner num 120956  surf num 48725 
--------------------stamp1317357842.664200067
prepare time 11.311123 
sort q time 5.822666 
seperate points time 13.466467 
mapping data assosiation time 34.385074 ms 
-----t: 0.0423452
OdomCount 777 & avg odom time 0.040761 ms ++++++++++++++++++++++
mapping solver time 35.002957 ms 
--------------------stamp1317357842.768215894
sort q time 5.411048 
seperate points time 11.307177 
mapping solver time 31.486668 ms 
filter time 11.083084 ms 
mapping pub time 2.303197 ms 
whole mapping time 182.071724 ms +++++
mappingCount 663 & avg mapping time 115.053559 ms ++++++++++++++++++++++
1317357842.456108093 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0428676
OdomCount 778 & avg odom time 0.040763 ms ++++++++++++++++++++++
1317357842.768215894 WriteOdom laser_odom_to_init
1317357842.768215894 WriteOdom aft_mapped_to_init_high_frec
build tree time 27.842563 ms 
--------------------stamp1317357842.872231006
mapping data assosiation time 34.615755 ms 
publication time 7.492855 ms 
whole laserOdometry time 7.506856 ms 
 
-----t: 0.0396723
OdomCount 779 & avg odom time 0.040762 ms ++++++++++++++++++++++
1317357842.872231006 WriteOdom laser_odom_to_init
1317357842.872231006 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.913106 ms 
mapping data assosiation time 30.163886 ms 
--------------------stamp1317357842.976246118
points size 94813 
filter time 9.472549 ms 
sort q time 5.773187 
seperate points time 12.148044 
mapping pub time 2.170122 ms 
whole mapping time 177.199794 ms +++++
mappingCount 664 & avg mapping time 115.147172 ms ++++++++++++++++++++++
1317357842.664200068 WriteOdom aft_mapped_to_init
publication time 9.938178 ms 
build tree time 28.554221 ms 
mapping data assosiation time 27.985503 ms 
--------------------stamp1317357843.080262899
prepare time 10.356979 
mapping solver time 31.516338 ms 
publication time 6.792934 ms 
whole laserOdometry time 6.809579 ms 
 
mapping data assosiation time 34.423941 ms 
mapping solver time 24.297859 ms 
filter time 8.762061 ms 
map prepare time 3.105427 ms
map corner num 124503  surf num 50303 
--------------------stamp1317357843.184278964
prepare time 11.456757 
build tree time 32.590483 ms 
publication time 7.172892 ms 
whole laserOdometry time 7.197182 ms 
 
-----t: 0.0411644
OdomCount 782 & avg odom time 0.040744 ms ++++++++++++++++++++++
1317357843.184278964 WriteOdom laser_odom_to_init
1317357843.184278964 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.861143 ms 
mapping solver time 32.896331 ms 
--------------------stamp1317357843.288294076
publication time 12.906193 ms 
whole laserOdometry time 12.928616 ms 
 
1317357843.288294076 WriteOdom laser_odom_to_init
mapping pub time 4.878481 ms 
whole mapping time 194.080653 ms +++++
mappingCount 666 & avg mapping time 115.340559 ms ++++++++++++++++++++++
--------------------stamp1317357843.392308950
build tree time 30.133715 ms 
sort q time 5.027230 
seperate points time 9.908207 
mapping data assosiation time 34.067025 ms 
mapping solver time 31.310662 ms 
-----t: 0.0644781
OdomCount 784 & avg odom time 0.040788 ms ++++++++++++++++++++++
mapping data assosiation time 26.767325 ms 
points size 86110 
sort q time 5.209289 
seperate points time 11.055203 
publication time 11.915048 ms 
whole laserOdometry time 11.935932 ms 
 
-----t: 0.0416004
OdomCount 785 & avg odom time 0.040789 ms ++++++++++++++++++++++
build tree time 29.661775 ms 
--------------------stamp1317357843.600311994
sort q time 6.064088 
seperate points time 11.202440 
publication time 9.205356 ms 
whole laserOdometry time 9.217282 ms 
 
mapping data assosiation time 27.158646 ms 
mapping solver time 15.695933 ms 
filter time 10.092149 ms 
map prepare time 3.653521 ms
map corner num 127514  surf num 51384 
prepare time 11.055632 
sort q time 5.014202 
seperate points time 12.284623 
publication time 15.996621 ms 
whole laserOdometry time 16.006468 ms 
 
-----t: 0.0359266
OdomCount 787 & avg odom time 0.040776 ms ++++++++++++++++++++++
1317357843.704278945 WriteOdom laser_odom_to_init
1317357843.704278945 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.772500 ms 
mapping solver time 24.783565 ms 
--------------------stamp1317357843.808247089
prepare time 10.086395 
sort q time 5.337243 
seperate points time 11.316496 
add points time 1.003910 ms
filter time 10.976372 ms 
-----t: 0.0460251
OdomCount 788 & avg odom time 0.040783 ms ++++++++++++++++++++++
build tree time 28.830963 ms 
--------------------stamp1317357843.912213087
prepare time 10.854599 
sort q time 5.373281 
seperate points time 12.520195 
mapping solver time 30.895107 ms 
publication time 8.177857 ms 
whole laserOdometry time 8.190882 ms 
 
mapping data assosiation time 26.452102 ms 
mapping solver time 20.091573 ms 
filter time 8.380264 ms 
map prepare time 2.617076 ms
map corner num 129355  surf num 51961 
mapping solver time 33.090411 ms 
points size 96805 
prepare time 11.229141 
scan registration time 27.773182 ms *************
publication time 8.894408 ms 
whole laserOdometry time 8.908678 ms 
 
filter time 8.435670 ms 
[0m[ INFO] [1718889927.082651476, 1317357844.182224079]: Received 182567 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889927.082690999, 1317357844.182224079]: Data saved to 1317357843912213.pcd[0m
build tree time 29.269579 ms 
--------------------stamp1317357844.223993062
points size 100447 
sort q time 5.785642 
seperate points time 13.451348 
publication time 8.186724 ms 
whole laserOdometry time 8.199880 ms 
 
mapping data assosiation time 23.917644 ms 
mapping solver time 19.931263 ms 
filter time 9.885976 ms 
sort q time 6.243812 
seperate points time 13.349517 
build tree time 32.681734 ms 
publication time 18.882518 ms 
whole laserOdometry time 18.906590 ms 
 
mapping data assosiation time 24.675131 ms 
mapping solver time 25.427573 ms 
points size 100985 
mapping data assosiation time 28.567196 ms 
mapping solver time 23.141308 ms 
filter time 12.381722 ms 
mapping pub time 2.372132 ms 
whole mapping time 155.693006 ms +++++
mappingCount 673 & avg mapping time 115.793253 ms ++++++++++++++++++++++
1317357844.223993063 WriteOdom aft_mapped_to_init
build tree time 29.593631 ms 
points size 101156 
prepare time 14.956020 
mapping solver time 31.157232 ms 
-----t: 0.0538024
OdomCount 795 & avg odom time 0.040830 ms ++++++++++++++++++++++
mapping data assosiation time 25.610775 ms 
mapping solver time 22.282709 ms 
prepare time 14.659712 
sort q time 5.979317 
seperate points time 14.459985 
publication time 9.462154 ms 
whole laserOdometry time 9.476456 ms 
 
mapping data assosiation time 23.351137 ms 
mapping solver time 20.948577 ms 
points size 98410 
prepare time 15.760728 
sort q time 6.095696 
seperate points time 16.894092 
scan registration time 39.427615 ms *************
mapping solver time 23.272836 ms 
filter time 9.809214 ms 
map prepare time 3.031908 ms
map corner num 133489  surf num 53451 
build tree time 29.609897 ms 
points size 96679 
mapping data assosiation time 30.377844 ms 
publication time 8.650632 ms 
whole laserOdometry time 8.666511 ms 
 
mapping data assosiation time 22.940565 ms 
--------------------stamp1317357844.951210021
prepare time 10.772269 
mapping pub time 5.168618 ms 
whole mapping time 159.552969 ms +++++
mappingCount 676 & avg mapping time 115.974650 ms ++++++++++++++++++++++
publication time 7.019482 ms 
whole laserOdometry time 7.032237 ms 
 
-----t: 0.0376773
OdomCount 799 & avg odom time 0.040819 ms ++++++++++++++++++++++
build tree time 35.470614 ms 
mapping data assosiation time 24.436993 ms 
--------------------stamp1317357845.055079936
points size 93601 
sort q time 6.047149 
seperate points time 14.881643 
scan registration time 32.424588 ms *************
-----t: 0.0330988
OdomCount 800 & avg odom time 0.040809 ms ++++++++++++++++++++++
mapping solver time 18.739661 ms 
filter time 9.450903 ms 
map prepare time 2.978762 ms
map corner num 135097  surf num 54073 
--------------------stamp1317357845.158947944
points size 92200 
sort q time 6.105779 
seperate points time 14.585183 
publication time 9.070704 ms 
whole laserOdometry time 9.086111 ms 
 
mapping solver time 28.262317 ms 
mapping data assosiation time 24.371341 ms 
--------------------stamp1317357845.262816905
mapping solver time 22.878190 ms 
filter time 13.619124 ms 
mapping pub time 2.195561 ms 
whole mapping time 158.317998 ms +++++
mappingCount 678 & avg mapping time 116.093681 ms ++++++++++++++++++++++
1317357844.951210022 WriteOdom aft_mapped_to_init
sort q time 5.242126 
seperate points time 12.458836 
publication time 8.938986 ms 
whole laserOdometry time 8.951189 ms 
 
build tree time 38.577700 ms 
mapping data assosiation time 25.491372 ms 
points size 89698 
sort q time 4.969732 
seperate points time 11.928139 
publication time 8.717922 ms -----t: 0.0527659
OdomCount 803 & avg odom time 0.040826 ms ++++++++++++++++++++++
mapping solver time 26.155028 ms 
mapping optimization time 151.772631 
add points time 0.914543 ms
drop lidar frame in mapping for real time performance 
points size 89782 
prepare time 11.746140 
scan registration time 29.589611 ms *************
publication time 8.961249 ms 
whole laserOdometry time 8.978835 ms 
 
mapping data assosiation time 26.029562 ms 
mapping solver time 23.190151 ms 
--------------------stamp1317357845.574450016
points size 90801 
sort q time 5.096523 
seperate points time 12.135944 
scan registration time 30.810589 ms *************
mapping solver time 26.354941 ms 
mapping optimization time 141.621068 
add points time 1.073760 ms
filter time 13.003399 ms 
-----t: 0.0329559
OdomCount 805 & avg odom time 0.040820 ms ++++++++++++++++++++++
1317357845.574450016 WriteOdom laser_odom_to_init
1317357845.574450016 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.937093 ms
map corner num 137659  surf num 54980 
publication time 8.805698 ms 
whole laserOdometry time 8.814897 ms 
 
build tree time 29.838596 ms 
--------------------stamp1317357845.678375005
prepare time 10.053192 
sort q time 6.262179 
seperate points time 11.771533 
scan registration time 25.806360 ms *************
publication time 8.377743 ms 
whole laserOdometry time 8.392322 ms 
 
mapping data assosiation time 25.395904 ms 
mapping solver time 20.967432 ms 
filter time 10.842237 ms 
[0m[ INFO] [1718889928.687515347, 1317357845.785339245]: Received 193770 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889928.687572225, 1317357845.785339245]: Data saved to 1317357845470551.pcd[0m
points size 95314 
prepare time 11.360983 
sort q time 5.704064 
seperate points time 12.225366 
mapping pub time 33.377634 ms 
whole mapping time 181.163818 ms +++++
mappingCount 681 & avg mapping time 116.332579 ms ++++++++++++++++++++++
1317357845.470551968 WriteOdom aft_mapped_to_init
scan registration time 28.105286 ms *************
drop lidar frame in mapping for real time performance 
map prepare time 4.557835 ms
map corner num 138524  surf num 55246 
publication time 10.083183 ms 
whole laserOdometry time 10.102891 ms 
 
build tree time 38.846357 ms 
mapping data assosiation time 21.135025 ms 
--------------------stamp1317357845.886209011
prepare time 10.782240 
sort q time 5.123343 
seperate points time 11.868045 
publication time 9.008488 ms 
whole laserOdometry time 9.057281 ms 
 
-----t: 0.040034
OdomCount 808 & avg odom time 0.040819 ms ++++++++++++++++++++++
mapping solver time 21.832224 ms 
mapping optimization time 134.598462 
add points time 0.703822 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357845.990129947
points size 99244 
sort q time 6.707127 
seperate points time 15.434977 
scan registration time 36.558653 ms *************
publication time 9.415403 ms 
whole laserOdometry time 9.428015 ms 
 
mapping solver time 29.463843 ms 
mapping data assosiation time 23.190635 ms 
--------------------stamp1317357846.094026088
points size 98603 
add points time 1.070550 ms
filter time 12.819971 ms 
-----t: 0.0349301
OdomCount 810 & avg odom time 0.040837 ms ++++++++++++++++++++++
build tree time 34.603692 ms 
mapping data assosiation time 24.104407 ms 
points size 97070 
mapping solver time 29.496343 ms 
publication time 8.179899 ms 
whole laserOdometry time 8.194741 ms 
 
mapping solver time 23.340245 ms 
filter time 11.753003 ms 
--------------------stamp1317357846.301739931
points size 96018 
scan registration time 29.870061 ms *************
publication time 8.656946 ms 
whole laserOdometry time 8.669357 ms 
 
mapping solver time 25.055818 ms 
-----t: 0.0540637
OdomCount 812 & avg odom time 0.040891 ms ++++++++++++++++++++++
1317357846.301739931 WriteOdom laser_odom_to_init
1317357846.301739931 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.029808 ms 
--------------------stamp1317357846.405567884
prepare time 10.140845 
filter time 10.786328 ms 
publication time 9.091143 ms 
whole laserOdometry time 9.106328 ms 
 
build tree time 29.407511 ms 
mapping data assosiation time 23.587159 ms 
--------------------stamp1317357846.509362936
points size 99477 
prepare time 11.584832 
sort q time 5.588716 
seperate points time 12.964601 
publication time 8.287867 ms 
whole laserOdometry time 8.321154 ms 
 
-----t: 0.0380201
OdomCount 814 & avg odom time 0.040890 ms ++++++++++++++++++++++
filter time 7.658227 ms 
build tree time 25.116611 ms 
points size 100345 
mapping data assosiation time 24.562668 ms 
mapping solver time 24.041247 ms 
-----t: 0.0443827
OdomCount 815 & avg odom time 0.040894 ms ++++++++++++++++++++++
1317357846.613136053 WriteOdom laser_odom_to_init
1317357846.613136053 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.055316 ms 
filter time 8.287850 ms 
points size 100482 
sort q time 5.936171 
seperate points time 14.434369 
mapping data assosiation time 27.651174 ms 
mapping solver time 23.963171 ms 
--------------------stamp1317357846.820642948
prepare time 12.597908 
mapping solver time 21.429641 ms 
filter time 10.703220 ms 
-----t: 0.042325
OdomCount 817 & avg odom time 0.040891 ms ++++++++++++++++++++++
build tree time 23.986607 ms 
mapping data assosiation time 22.397997 ms 
points size 101939 
sort q time 6.062899 
seperate points time 13.638795 
scan registration time 29.854255 ms *************
mapping data assosiation time 27.426895 ms 
publication time 12.534379 ms 
whole laserOdometry time 12.548512 ms 
 
mapping solver time 20.550836 ms 
filter time 7.366041 ms 
mapping pub time 2.330858 ms 
whole mapping time 137.803826 ms +++++
mappingCount 689 & avg mapping time 116.681859 ms ++++++++++++++++++++++
1317357846.716891050 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357847.028119087
points size 102153 
sort q time 6.746897 
seperate points time 14.154470 
publication time 8.963336 ms 
whole laserOdometry time 8.988423 ms 
 
1317357847.028119087 WriteOdom laser_odom_to_init
mapping data assosiation time 22.448004 ms 
mapping solver time 20.420104 ms 
points size 102186 
prepare time 12.114996 
filter time 11.478240 ms 
map prepare time 4.040735 ms
map corner num 109483  surf num 43546 
build tree time 28.432008 ms 
publication time 8.536690 ms 
whole laserOdometry time 8.550866 ms 
 
mapping data assosiation time 25.082416 ms 
--------------------stamp1317357847.235620975
points size 101907 
mapping data assosiation time 25.061594 ms 
sort q time 5.643022 
seperate points time 12.379226 
scan registration time 28.664335 ms *************
publication time 13.844317 ms 
whole laserOdometry time 13.861227 ms 
 
build tree time 23.689503 ms 
--------------------stamp1317357847.339348077
prepare time 11.282047 
scan registration time 29.442251 ms *************
publication time 10.308299 ms 
whole laserOdometry time 10.322781 ms 
 
-----t: 0.0446383
OdomCount 822 & avg odom time 0.040903 ms ++++++++++++++++++++++
mapping data assosiation time 24.899311 ms 
mapping solver time 20.812403 ms 
filter time 8.066529 ms 
points size 101447 
build tree time 25.922222 ms 
-----t: 0.0409721
OdomCount 823 & avg odom time 0.040903 ms ++++++++++++++++++++++
mapping solver time 21.650066 ms 
--------------------stamp1317357847.546823978
prepare time 12.474171 
sort q time 5.908558 
seperate points time 12.408538 
filter time 10.984920 ms 
map prepare time 4.213515 ms
map corner num 112037  surf num 44734 
build tree time 27.472771 ms 
mapping data assosiation time 26.493945 ms 
prepare time 11.591163 
sort q time 6.335760 
seperate points time 12.740877 
publication time 9.964931 ms 
whole laserOdometry time 9.977677 ms 
 
-----t: 0.0411154
OdomCount 825 & avg odom time 0.040904 ms ++++++++++++++++++++++
mapping solver time 21.379141 ms 
filter time 8.772370 ms 
map prepare time 2.871148 ms
map corner num 112824  surf num 45071 
points size 97354 
build tree time 28.121677 ms 
sort q time 5.287842 
seperate points time 12.013461 
scan registration time 29.154124 ms *************
publication time 8.377765 ms 
whole laserOdometry time 8.387808 ms 
 
-----t: 0.0400559
OdomCount 826 & avg odom time 0.040903 ms ++++++++++++++++++++++
1317357847.754300117 WriteOdom laser_odom_to_init
1317357847.754300117 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.641129 ms 
--------------------stamp1317357847.858052968
prepare time 11.000461 
mapping optimization time 129.101803 
add points time 0.972186 ms
map prepare time 3.306343 ms
map corner num 113524  surf num 45378 
publication time 9.424800 ms 
whole laserOdometry time 9.443935 ms 
 
-----t: 0.0453663
OdomCount 827 & avg odom time 0.040909 ms ++++++++++++++++++++++
1317357847.858052968 WriteOdom laser_odom_to_init
1317357847.858052968 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.542680 ms 
points size 97284 
mapping solver time 30.534438 ms 
publication time 7.274405 ms 
whole laserOdometry time 7.288151 ms 
 
mapping data assosiation time 28.869225 ms 
mapping solver time 21.472562 ms 
filter time 7.856284 ms 
map prepare time 2.862941 ms
map corner num 114376  surf num 45754 
--------------------stamp1317357848.065675020
prepare time 10.449037 
sort q time 5.431237 
seperate points time 12.318020 
scan registration time 27.265680 ms *************
mapping data assosiation time 30.816098 ms 
-----t: 0.0788281
OdomCount 829 & avg odom time 0.040949 ms ++++++++++++++++++++++
--------------------stamp1317357848.169497013
points size 95309 
sort q time 5.554254 
seperate points time 13.928750 
publication time 10.319764 ms 
whole laserOdometry time 10.332960 ms 
 
build tree time 29.620909 ms 
mapping data assosiation time 25.139356 ms 
--------------------stamp1317357848.273320913
prepare time 10.971897 
sort q time 7.600398 
seperate points time 14.260631 
scan registration time 36.693652 ms *************
-----t: 0.0412716
OdomCount 831 & avg odom time 0.040961 ms ++++++++++++++++++++++
mapping optimization time 136.081168 
filter time 7.687624 ms 
map prepare time 2.842809 ms
map corner num 116003  surf num 46326 
--------------------stamp1317357848.377144098
prepare time 12.389676 
mapping data assosiation time 26.568329 ms 
publication time 20.090111 ms 
whole laserOdometry time 20.105153 ms 
 
-----t: 0.0540156
OdomCount 832 & avg odom time 0.040976 ms ++++++++++++++++++++++--------------------stamp1317357848.480967044
points size 98899 
mapping solver time 20.764538 ms 
scan registration time 33.642814 ms *************
filter time 10.831821 ms 
map prepare time 5.032384 ms
map corner num 116740  surf num 46519 
-----t: 0.0464183
OdomCount 833 & avg odom time 0.040983 ms ++++++++++++++++++++++
build tree time 29.648274 ms 
mapping data assosiation time 23.332291 ms 
points size 99850 
sort q time 6.931312 
seperate points time 13.198201 
mapping solver time 33.235380 ms 
scan registration time 30.287251 ms *************
publication time 8.391123 ms 
whole laserOdometry time 8.408485 ms 
 
mapping solver time 20.992354 ms 
mapping optimization time 136.093149 
add points time 0.958567 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357848.688561916
points size 98598 
prepare time 14.184432 
sort q time 5.679750 
seperate points time 13.713141 
scan registration time 32.712522 ms *************
mapping data assosiation time 28.070966 ms 
publication time 10.696053 ms 
whole laserOdometry time 10.712214 ms 
 
mapping solver time 28.489207 ms 
mapping data assosiation time 21.150639 ms 
points size 97499 
filter time 9.561350 ms 
scan registration time 32.974859 ms *************
publication time 8.724371 ms 
whole laserOdometry time 8.735027 ms 
 
map prepare time 3.439850 ms
map corner num 118331  surf num 46982 
build tree time 27.127247 ms 
--------------------stamp1317357848.896135091
prepare time 18.972359 
sort q time 8.003588 
seperate points time 15.793378 
publication time 9.467091 ms 
whole laserOdometry time 9.478915 ms 
 
mapping data assosiation time 27.030534 ms 
mapping solver time 23.986346 ms 
--------------------stamp1317357848.999908924
points size 97485 
sort q time 5.564265 
seperate points time 13.104206 
build tree time 32.751985 ms 
-----t: 0.0473432
OdomCount 838 & avg odom time 0.041054 ms ++++++++++++++++++++++
mapping data assosiation time 26.025913 ms 
mapping solver time 20.520847 ms 
--------------------stamp1317357849.103682041
points size 96328 
mapping data assosiation time 25.973390 ms 
sort q time 5.648555 
seperate points time 13.161651 
mapping solver time 24.026245 ms 
filter time 9.742570 ms 
mapping pub time 2.283180 ms 
whole mapping time 146.752404 ms +++++
mappingCount 703 & avg mapping time 117.361099 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 3.447310 ms
map corner num 119895  surf num 47463 
1317357848.896135092 WriteOdom aft_mapped_to_init
build tree time 29.058183 ms 
points size 94727 
sort q time 6.383864 
seperate points time 12.818320 
mapping solver time 28.114062 ms 
publication time 11.974451 ms 
whole laserOdometry time 11.987712 ms 
 
-----t: 0.0455168
OdomCount 840 & avg odom time 0.041076 ms ++++++++++++++++++++++
1317357849.207457065 WriteOdom laser_odom_to_init
1317357849.207457065 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.044095 ms 
mapping solver time 20.187306 ms 
filter time 8.426969 ms 
map prepare time 2.993497 ms
map corner num 146404  surf num 54657 
points size 92050 
sort q time 6.009896 
seperate points time 13.230715 
scan registration time 30.769917 ms *************
publication time 8.223288 ms 
whole laserOdometry time 8.236272 ms 
 
mapping data assosiation time 27.088786 ms 
mapping solver time 24.736524 ms 
--------------------stamp1317357849.415011882
points size 92469 
sort q time 5.205591 
seperate points time 12.825820 
filter time 12.438133 ms 
map prepare time 3.489809 ms
map corner num 147131  surf num 54875 
build tree time 31.168270 ms 
--------------------stamp1317357849.518784046
points size 93930 
sort q time 5.787250 
seperate points time 11.330951 
mapping solver time 30.702788 ms 
-----t: 0.0363665
OdomCount 843 & avg odom time 0.041066 ms ++++++++++++++++++++++
mapping solver time 18.662325 ms 
mapping optimization time 129.056949 
add points time 0.552360 ms
[0m[ INFO] [1718889932.515210903, 1317357849.612994340]: Received 202868 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889932.515245816, 1317357849.612994340]: Data saved to 1317357849311235.pcd[0m
mapping pub time 8.938832 ms 
whole mapping time 151.276867 ms +++++
mappingCount 706 & avg mapping time 117.498922 ms ++++++++++++++++++++++
points size 93926 
prepare time 10.297166 
scan registration time 28.565878 ms *************
publication time 8.943776 ms 
whole laserOdometry time 8.958059 ms 
 
mapping data assosiation time 24.605149 ms 
-----t: 0.0635302
OdomCount 844 & avg odom time 0.041093 ms ++++++++++++++++++++++
--------------------stamp1317357849.726334095
prepare time 12.379173 
sort q time 5.694008 
seperate points time 11.771682 
add points time 0.787433 ms
filter time 11.516105 ms 
map corner num 148578  surf num 55318 --------------------stamp1317357849.830106019
prepare time 11.807324 
sort q time 5.804332 
seperate points time 12.388292 
mapping solver time 28.866597 ms 
publication time 8.378401 ms 
whole laserOdometry time 8.393177 ms 
 
mapping data assosiation time 24.756498 ms 
mapping solver time 23.386696 ms 
mapping optimization time 134.320743 
add points time 0.714019 ms
-----t: 0.0746653
OdomCount 846 & avg odom time 0.041128 ms ++++++++++++++++++++++
1317357849.830106019 WriteOdom laser_odom_to_init
1317357849.830106019 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357849.933881998
points size 94319 
sort q time 5.125302 
seperate points time 11.761824 
scan registration time 28.244534 ms *************
publication time 9.604195 ms 
whole laserOdometry time 9.618263 ms 
 
mapping data assosiation time 22.073776 ms 
points size 95987 
mapping data assosiation time 27.504567 ms 
scan registration time 35.231643 ms *************
mapping solver time 23.781223 ms 
filter time 13.511336 ms 
build tree time 30.306463 ms 
prepare time 11.275220 
mapping data assosiation time 25.209777 ms 
mapping solver time 29.701672 ms 
-----t: 0.057429
OdomCount 849 & avg odom time 0.041159 ms ++++++++++++++++++++++
mapping solver time 17.161040 ms 
filter time 10.506409 ms 
mapping pub time 2.204317 ms 
whole mapping time 146.002771 ms +++++
mappingCount 710 & avg mapping time 117.714336 ms ++++++++++++++++++++++
1317357849.933881998 WriteOdom aft_mapped_to_init
sort q time 5.406285 
seperate points time 18.145773 
build tree time 35.413448 ms 
mapping data assosiation time 22.532960 ms 
mapping solver time 26.768968 ms 
points size 99327 
prepare time 11.182623 
scan registration time 29.151117 ms *************
publication time 8.493511 ms 
whole laserOdometry time 8.525386 ms 
 
filter time 13.207576 ms 
mapping pub time 4.911656 ms 
whole mapping time 164.509274 ms +++++
mappingCount 711 & avg mapping time 117.780163 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1718889933.321487197, 1317357850.406860353]: Received 208027 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889933.321527817, 1317357850.406860353]: Data saved to 1317357850141433.pcd[0m
1317357850.141433001 WriteOdom aft_mapped_to_init
--------------------stamp1317357850.452754020
points size 99524 
sort q time 5.686495 
seperate points time 12.410353 
mapping data assosiation time 24.900955 ms 
-----t: 0.0388539
OdomCount 852 & avg odom time 0.041190 ms ++++++++++++++++++++++
mapping solver time 27.427373 ms 
mapping data assosiation time 22.387967 ms 
--------------------stamp1317357850.556555986
points size 100025 
filter time 13.720217 ms 
map prepare time 3.111020 ms
map corner num 152543  surf num 56363 
publication time 8.347150 ms 
whole laserOdometry time 8.362881 ms 
 
build tree time 38.877451 ms 
1317357850.556555986 WriteOdom laser_odom_to_init
1317357850.556555986 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357850.660353899
points size 100333 
sort q time 6.432056 
seperate points time 14.882158 
mapping data assosiation time 26.649680 ms 
publication time 10.231702 ms 
whole laserOdometry time 10.248608 ms 
 
mapping solver time 23.522273 ms 
mapping optimization time 141.196423 
add points time 0.727502 ms
map prepare time 3.054156 ms
map corner num 153297  surf num 56562 
--------------------stamp1317357850.764153957
points size 100618 
build tree time 40.519240 ms 
publication time 9.119617 ms 
whole laserOdometry time 9.133475 ms 
 
mapping solver time 24.048747 ms 
mapping data assosiation time 21.326594 ms 
points size 100557 
prepare time 14.086919 
sort q time 5.667389 
seperate points time 13.371199 
1317357850.556555986 WriteOdom aft_mapped_to_init
publication time 11.472923 ms 
whole laserOdometry time 11.486316 ms 
 
-----t: 0.0467063
OdomCount 856 & avg odom time 0.041261 ms ++++++++++++++++++++++
1317357850.867974042 WriteOdom laser_odom_to_init
1317357850.867974042 WriteOdom aft_mapped_to_init_high_frec
build tree time 35.143281 ms 
mapping data assosiation time 20.397725 ms 
points size 100248 
mapping solver time 27.200962 ms 
publication time 10.278375 ms 
whole laserOdometry time 10.294512 ms 
 
mapping data assosiation time 26.062251 ms 
-----t: 0.0577299
OdomCount 857 & avg odom time 0.041280 ms ++++++++++++++++++++++
filter time 11.533661 ms 
map prepare time 3.797481 ms
map corner num 154866  surf num 57053 
--------------------stamp1317357851.075596094
sort q time 5.453912 
seperate points time 13.070972 
build tree time 39.493211 ms 
scan registration time 29.864268 ms *************
publication time 8.043933 ms 
whole laserOdometry time 8.058389 ms 
 
-----t: 0.0440416
OdomCount 858 & avg odom time 0.041283 ms ++++++++++++++++++++++
mapping solver time 21.538797 ms 
mapping data assosiation time 21.010366 ms 
prepare time 11.036966 
sort q time 5.606307 
seperate points time 12.250902 
mapping pub time 6.992461 ms 
whole mapping time 157.639680 ms +++++
mappingCount 716 & avg mapping time 118.055457 ms ++++++++++++++++++++++
-----t: 0.0368656
OdomCount 859 & avg odom time 0.041278 ms ++++++++++++++++++++++
1317357851.179397106 WriteOdom laser_odom_to_init
1317357851.179397106 WriteOdom aft_mapped_to_init_high_frec
build tree time 33.691987 ms 
mapping data assosiation time 21.204039 ms 
points size 100206 
mapping solver time 22.882057 ms 
scan registration time 33.479805 ms *************
mapping data assosiation time 25.592644 ms 
mapping solver time 21.636240 ms 
mapping optimization time 126.377599 
add points time 0.911753 ms
-----t: 0.0709574
OdomCount 860 & avg odom time 0.041313 ms ++++++++++++++++++++++
mapping pub time 2.911762 ms 
whole mapping time 158.074212 ms +++++
mappingCount 717 & avg mapping time 118.111288 ms ++++++++++++++++++++++
--------------------stamp1317357851.387042045
points size 100195 
prepare time 28.460621 
sort q time 9.025444 
seperate points time 20.623475 
mapping data assosiation time 27.859784 ms 
publication time 6.400508 ms 
whole laserOdometry time 6.410959 ms 
 
mapping solver time 20.994023 ms 
points size 100800 
prepare time 11.130358 
mapping solver time 19.192463 ms 
publication time 9.022043 ms 
whole laserOdometry time 9.040489 ms 
 
-----t: 0.054815
OdomCount 862 & avg odom time 0.041339 ms ++++++++++++++++++++++
build tree time 37.130243 ms 
points size 101530 
mapping data assosiation time 24.072955 ms 
sort q time 6.013275 
seperate points time 14.986535 
scan registration time 35.416575 ms *************
mapping solver time 29.875339 ms 
-----t: 0.0469617
OdomCount 863 & avg odom time 0.041345 ms ++++++++++++++++++++++
mapping solver time 13.881463 ms 
filter time 11.322169 ms 
map prepare time 3.892570 ms
map corner num 74935  surf num 32088 
build tree time 18.956025 ms 
scan registration time 36.074856 ms *************
mapping data assosiation time 24.868418 ms 
1317357851.698628902 WriteOdom laser_odom_to_init
mapping solver time 23.245557 ms 
mapping data assosiation time 20.856641 ms 
points size 101630 
filter time 7.222461 ms 
scan registration time 39.315185 ms *************
build tree time 20.176023 ms 
mapping data assosiation time 21.052286 ms 
mapping solver time 21.869790 ms 
--------------------stamp1317357851.906300067
mapping data assosiation time 24.570657 ms 
sort q time 6.357794 
seperate points time 12.218560 
mapping solver time 22.415982 ms 
publication time 12.069432 ms 
whole laserOdometry time 12.085655 ms 
 
[0m[ INFO] [1718889934.854623668, 1317357851.951028277]: Received 109018 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889934.854717547, 1317357851.951028277]: Data saved to 1317357851698628.pcd[0m
mapping pub time 25.999623 ms 
whole mapping time 148.547417 ms +++++
mappingCount 721 & avg mapping time 118.265275 ms ++++++++++++++++++++++
1317357851.698628902 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.409631 ms
map corner num 76469  surf num 32549 
build tree time 16.046297 ms 
--------------------stamp1317357852.010122060
mapping data assosiation time 23.541895 ms 
sort q time 5.872452 
seperate points time 13.462323 
scan registration time 32.545462 ms *************
mapping solver time 22.645843 ms 
mapping data assosiation time 27.315651 ms 
mapping solver time 18.813742 ms 
map prepare time 2.281865 ms
map corner num 77127  surf num 32741 
points size 99463 
mapping data assosiation time 24.665042 ms 
publication time 10.100300 ms 
whole laserOdometry time 10.116775 ms 
 
mapping solver time 27.977623 ms 
mapping data assosiation time 21.432149 ms 
mapping solver time 14.323550 ms 
filter time 8.538066 ms 
map prepare time 3.396334 ms
map corner num 77884  surf num 32947 
build tree time 18.933697 ms 
-----t: 0.0372573
OdomCount 869 & avg odom time 0.041361 ms ++++++++++++++++++++++
mapping solver time 22.094159 ms 
--------------------stamp1317357852.321589946
prepare time 10.525428 
mapping solver time 21.833167 ms 
filter time 7.734424 ms 
-----t: 0.0349377
OdomCount 870 & avg odom time 0.041353 ms ++++++++++++++++++++++
build tree time 19.065511 ms 
mapping data assosiation time 19.933236 ms 
mapping solver time 22.709417 ms 
points size 84896 
sort q time 4.727127 
seperate points time 10.389386 
publication time 7.791934 ms 
whole laserOdometry time 7.809843 ms 
 
mapping solver time 23.601620 ms 
filter time 7.746639 ms 
-----t: 0.0549226
OdomCount 871 & avg odom time 0.041369 ms ++++++++++++++++++++++
build tree time 17.407723 ms 
mapping data assosiation time 18.880746 ms 
points size 81113 
sort q time 4.634913 
seperate points time 10.026615 
publication time 8.936964 ms 
whole laserOdometry time 8.953282 ms 
 
1317357852.529186010 WriteOdom laser_odom_to_init
1317357852.529186010 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.982241 ms 
[0m[ INFO] [1718889935.503229775, 1317357852.605889228]: Received 113297 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889935.503279075, 1317357852.605889228]: Data saved to 1317357852321589.pcd[0m
build tree time 17.087880 ms 
points size 77576 
sort q time 4.229333 
seperate points time 10.221887 
publication time 7.833953 ms 
whole laserOdometry time 7.847128 ms 
 
mapping data assosiation time 20.861055 ms 
mapping solver time 19.268244 ms 
filter time 5.747133 ms 
points size 74031 
publication time 7.361417 ms 
whole laserOdometry time 7.376504 ms 
 
-----t: 0.0351534
OdomCount 874 & avg odom time 0.041339 ms ++++++++++++++++++++++
mapping solver time 24.040660 ms 
mapping data assosiation time 20.323734 ms 
--------------------stamp1317357852.840585947
filter time 6.755683 ms 
build tree time 19.255576 ms 
mapping data assosiation time 23.655763 ms 
publication time 7.640783 ms --------------------stamp1317357852.944381952
points size 77710 
mapping data assosiation time 66.753852 ms 
mapping solver time 43.874473 ms 
build tree time 20.359486 ms 
mapping data assosiation time 24.762280 ms 
-----t: 0.109522
OdomCount 876 & avg odom time 0.041540 ms ++++++++++++++++++++++
mapping solver time 30.408730 ms 
mapping data assosiation time 27.433598 ms 
prepare time 20.994365 
scan registration time 38.074332 ms *************
-----t: 0.0977133
OdomCount 877 & avg odom time 0.041604 ms ++++++++++++++++++++++
build tree time 20.756720 ms 
--------------------stamp1317357853.255851984
points size 89905 
prepare time 14.654468 
mapping data assosiation time 24.460189 ms 
-----t: 0.0527901
OdomCount 878 & avg odom time 0.041617 ms ++++++++++++++++++++++
1317357853.152028083 WriteOdom laser_odom_to_init
1317357853.152028083 WriteOdom aft_mapped_to_init_high_frec
sort q time 6.017935 
seperate points time 12.260815 
mapping solver time 28.201551 ms 
publication time 7.698019 ms 
whole laserOdometry time 7.717655 ms 
 
mapping data assosiation time 21.293747 ms 
mapping solver time 19.438476 ms 
mapping optimization time 115.380385 
add points time 0.734442 ms
map prepare time 2.313676 ms
map corner num 83383  surf num 34262 
points size 95392 
sort q time 5.495358 
seperate points time 13.148827 
mapping data assosiation time 25.801529 ms 
publication time 8.578582 ms 
whole laserOdometry time 8.590806 ms 
 
-----t: 0.0496941
OdomCount 880 & avg odom time 0.041618 ms ++++++++++++++++++++++
mapping data assosiation time 22.808678 ms 
--------------------stamp1317357853.463470935
points size 96553 
mapping pub time 2.076234 ms 
whole mapping time 136.931243 ms +++++
mappingCount 732 & avg mapping time 118.500187 ms ++++++++++++++++++++++
1317357853.255851984 WriteOdom aft_mapped_to_init
sort q time 5.607057 
seperate points time 13.457977 
publication time 10.879290 ms 
whole laserOdometry time 10.892304 ms 
 
mapping data assosiation time 26.098103 ms 
mapping solver time 24.482272 ms 
prepare time 13.613806 
sort q time 6.344170 
seperate points time 14.428296 
mapping data assosiation time 25.129418 ms 
-----t: 0.0380816
OdomCount 882 & avg odom time 0.041644 ms ++++++++++++++++++++++
filter time 7.730600 ms 
build tree time 17.030645 ms 
--------------------stamp1317357853.671045064
prepare time 10.909268 
sort q time 5.354863 
seperate points time 13.364348 
publication time 7.455454 ms 
whole laserOdometry time 7.472840 ms 
 
mapping data assosiation time 26.141162 ms 
-----t: 0.056939
OdomCount 883 & avg odom time 0.041661 ms ++++++++++++++++++++++
mapping solver time 20.795140 ms 
filter time 7.025086 ms 
--------------------stamp1317357853.774844884
prepare time 11.391788 
sort q time 5.327859 
seperate points time 11.176337 
scan registration time 27.254505 ms *************
mapping data assosiation time 26.552831 ms 
publication time 8.071039 ms 
whole laserOdometry time 8.087562 ms 
 
mapping solver time 29.404942 ms 
-----t: 0.0582218
OdomCount 884 & avg odom time 0.041680 ms ++++++++++++++++++++++
1317357853.774844884 WriteOdom laser_odom_to_init
1317357853.774844884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.088711 ms 
--------------------stamp1317357853.878644943
points size 93711 
mapping solver time 20.581901 ms 
prepare time 12.998052 
mapping optimization time 124.701919 
add points time 0.832484 ms
sort q time 6.337656 
seperate points time 12.540493 
publication time 9.085648 ms 
whole laserOdometry time 9.113495 ms 
 
-----t: 0.037407
OdomCount 885 & avg odom time 0.041675 ms ++++++++++++++++++++++
mapping data assosiation time 20.774439 ms 
mapping solver time 18.521857 ms 
--------------------stamp1317357853.982467889
points size 92799 
prepare time 10.154238 
mapping solver time 18.138374 ms 
publication time 9.278297 ms 
whole laserOdometry time 9.301837 ms 
 
1317357853.982467889 WriteOdom laser_odom_to_init
1317357853.982467889 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.884115 ms 
points size 91333 
mapping solver time 25.748187 ms 
publication time 9.550566 ms 
whole laserOdometry time 9.562463 ms 
 
-----t: 0.0526606
OdomCount 887 & avg odom time 0.041690 ms ++++++++++++++++++++++
filter time 5.774932 ms 
--------------------stamp1317357854.190087080
sort q time 5.129614 
seperate points time 12.229250 
publication time 8.735571 ms 
whole laserOdometry time 8.748703 ms 
 
-----t: 0.0451336
OdomCount 888 & avg odom time 0.041694 ms ++++++++++++++++++++++
mapping data assosiation time 23.527770 ms 
mapping solver time 20.847016 ms 
mapping pub time 2.034755 ms 
whole mapping time 129.578280 ms +++++
mappingCount 738 & avg mapping time 118.611802 ms ++++++++++++++++++++++
1317357854.086287975 WriteOdom aft_mapped_to_init
points size 89575 
map prepare time 2.903479 ms
map corner num 88807  surf num 36185 
prepare time 10.745141 
build tree time 21.801361 ms 
-----t: 0.040232
OdomCount 889 & avg odom time 0.041692 ms ++++++++++++++++++++++
mapping solver time 22.264905 ms 
--------------------stamp1317357854.397686004
points size 88442 
scan registration time 31.301058 ms *************
add points time 8.280058 ms
build tree time 21.160250 ms 
mapping data assosiation time 21.554860 ms 
--------------------stamp1317357854.501483917
prepare time 11.254555 
mapping data assosiation time 25.300145 ms 
-----t: 0.0444998
OdomCount 891 & avg odom time 0.041692 ms ++++++++++++++++++++++
filter time 6.571887 ms 
mapping pub time 2.047776 ms 
whole mapping time 125.926975 ms +++++
mappingCount 740 & avg mapping time 118.650989 ms ++++++++++++++++++++++
1317357854.293888092 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.431405 ms
map corner num 90214  surf num 36819 
build tree time 18.814188 ms 
--------------------stamp1317357854.605282068
mapping data assosiation time 24.392110 ms 
scan registration time 24.923400 ms *************
publication time 9.005898 ms 
whole laserOdometry time 9.021169 ms 
 
mapping solver time 25.453603 ms 
mapping data assosiation time 24.094494 ms 
mapping solver time 15.730537 ms 
filter time 7.963099 ms 
--------------------stamp1317357854.709080934
points size 90100 
prepare time 12.274476 
mapping pub time 27.731849 ms 
whole mapping time 148.800672 ms +++++
mappingCount 741 & avg mapping time 118.691687 ms ++++++++++++++++++++++
sort q time 19.797228 
seperate points time 27.043404 
-----t: 0.0441192
OdomCount 893 & avg odom time 0.041685 ms ++++++++++++++++++++++
mapping data assosiation time 26.338554 ms 
mapping solver time 22.599902 ms 
--------------------stamp1317357854.812927007
mapping data assosiation time 23.024141 ms 
sort q time 5.369377 
seperate points time 13.052436 
add points time 0.764793 ms
mapping pub time 2.128833 ms 
whole mapping time 134.855540 ms +++++
mappingCount 742 & avg mapping time 118.713476 ms ++++++++++++++++++++++
publication time 9.136547 ms 
whole laserOdometry time 9.150329 ms 
 
build tree time 23.011522 ms 
mapping data assosiation time 21.954996 ms 
points size 92696 
mapping solver time 29.394311 ms 
sort q time 5.661260 
seperate points time 13.747111 
publication time 7.524773 ms 
whole laserOdometry time 7.536528 ms 
 
-----t: 0.0455093
OdomCount 895 & avg odom time 0.041699 ms ++++++++++++++++++++++
1317357854.916771888 WriteOdom laser_odom_to_init
1317357854.916771888 WriteOdom aft_mapped_to_init_high_frec
filter time 6.431958 ms 
--------------------stamp1317357855.020572900
build tree time 18.826397 ms 
points size 91628 
prepare time 12.467664 
scan registration time 30.504112 ms *************
publication time 8.704210 ms 
whole laserOdometry time 8.718326 ms 
 
-----t: 0.0457083
OdomCount 896 & avg odom time 0.041704 ms ++++++++++++++++++++++
mapping data assosiation time 23.712550 ms 
mapping solver time 14.438398 ms 
mapping optimization time 106.941775 
add points time 0.736587 ms
map prepare time 2.959309 ms
map corner num 93108  surf num 37702 
points size 91585 
build tree time 23.092838 ms 
publication time 8.183206 ms 
whole laserOdometry time 8.199187 ms 
 
mapping solver time 20.837708 ms 
mapping data assosiation time 23.230217 ms 
--------------------stamp1317357855.228122949
points size 92470 
prepare time 12.749988 
filter time 7.424054 ms 
mapping pub time 2.177551 ms 
whole mapping time 123.020898 ms +++++
mappingCount 745 & avg mapping time 118.741307 ms ++++++++++++++++++++++
1317357855.020572901 WriteOdom aft_mapped_to_init
scan registration time 30.385656 ms *************
build tree time 24.041751 ms 
mapping data assosiation time 23.201149 ms 
mapping solver time 22.428916 ms 
--------------------stamp1317357855.331896066
prepare time 10.778168 
sort q time 5.726951 
seperate points time 11.131156 
mapping solver time 22.894351 ms 
filter time 8.855939 ms 
-----t: 0.0344817
OdomCount 899 & avg odom time 0.041678 ms ++++++++++++++++++++++
1317357855.331896066 WriteOdom laser_odom_to_init
1317357855.331896066 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889938.282005916, 1317357855.379839986]: Received 132959 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889938.282058985, 1317357855.379839986]: Data saved to 1317357855124346.pcd[0m
mapping pub time 6.439240 ms 
whole mapping time 137.323690 ms +++++
mappingCount 746 & avg mapping time 118.766220 ms ++++++++++++++++++++++
1317357855.124346972 WriteOdom aft_mapped_to_init
build tree time 19.788571 ms 
mapping data assosiation time 22.677402 ms 
points size 88710 
sort q time 4.749404 
seperate points time 11.411642 
mapping solver time 28.863407 ms 
mapping data assosiation time 25.265561 ms 
-----t: 0.0542003
OdomCount 900 & avg odom time 0.041692 ms ++++++++++++++++++++++
filter time 6.521387 ms 
map prepare time 2.615103 ms
map corner num 95437  surf num 38603 
--------------------stamp1317357855.539400100
prepare time 10.237011 
sort q time 5.459993 
seperate points time 10.536833 
mapping data assosiation time 25.860364 ms 
publication time 8.757304 ms 
whole laserOdometry time 8.769104 ms 
 
mapping data assosiation time 21.393662 ms 
mapping solver time 15.275069 ms 
filter time 8.567309 ms 
points size 84180 
sort q time 4.591720 
seperate points time 10.382766 
publication time 10.803703 ms 
whole laserOdometry time 10.827348 ms 
 
mapping data assosiation time 31.379382 ms 
-----t: 0.0672017
OdomCount 902 & avg odom time 0.041749 ms ++++++++++++++++++++++
mapping solver time 31.230898 ms 
--------------------stamp1317357855.746949911
prepare time 11.111173 
mapping data assosiation time 23.690606 ms 
mapping solver time 19.886410 ms 
mapping pub time 1.939323 ms 
whole mapping time 144.932552 ms +++++
mappingCount 749 & avg mapping time 118.823557 ms ++++++++++++++++++++++
-----t: 0.0425099
OdomCount 903 & avg odom time 0.041750 ms ++++++++++++++++++++++
build tree time 23.995793 ms 
mapping data assosiation time 24.040434 ms 
points size 78580 
prepare time 7.512996 
publication time 6.123304 ms 
whole laserOdometry time 6.136300 ms 
 
-----t: 0.0388219
OdomCount 904 & avg odom time 0.041747 ms ++++++++++++++++++++++
mapping solver time 20.209129 ms 
filter time 8.362382 ms 
build tree time 23.285400 ms 
--------------------stamp1317357855.954521894
sort q time 3.588008 
seperate points time 7.816991 
publication time 7.281988 ms 
whole laserOdometry time 7.295757 ms 
 
-----t: 0.0294497
OdomCount 905 & avg odom time 0.041733 ms ++++++++++++++++++++++
1317357855.954521894 WriteOdom laser_odom_to_init
1317357855.954521894 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.354447 ms 
mapping data assosiation time 20.130705 ms 
mapping solver time 17.112954 ms 
filter time 6.432044 ms 
map prepare time 3.226769 ms
map corner num 98379  surf num 39570 
points size 73275 
sort q time 4.033863 
seperate points time 9.750801 
publication time 8.490974 ms 
mapping solver time 16.173242 ms 
mapping data assosiation time 19.220568 ms 
mapping optimization time 97.928534 
mapping pub time 1.802356 ms 
whole mapping time 111.855761 ms +++++
mappingCount 752 & avg mapping time 118.842863 ms ++++++++++++++++++++++
sort q time 4.331906 
seperate points time 9.583169 
publication time 8.557379 ms 
whole laserOdometry time 8.569979 ms 
 
mapping data assosiation time 20.975277 ms 
-----t: 0.0585579
OdomCount 907 & avg odom time 0.041738 ms ++++++++++++++++++++++
mapping solver time 22.459923 ms 
mapping data assosiation time 18.380038 ms 
points size 77379 
mapping solver time 20.279277 ms 
filter time 9.307891 ms 
-----t: 0.0277459
OdomCount 908 & avg odom time 0.041723 ms ++++++++++++++++++++++
1317357856.265969038 WriteOdom laser_odom_to_init
1317357856.265969038 WriteOdom aft_mapped_to_init_high_frec
publication time 12.462019 ms 
whole laserOdometry time 12.473482 ms 
 
mapping data assosiation time 18.946037 ms 
mapping solver time 17.768222 ms 
--------------------stamp1317357856.369769096
points size 77924 
prepare time 9.297882 
mapping data assosiation time 20.918405 ms 
publication time 8.742514 ms 
whole laserOdometry time 8.753617 ms 
 
filter time 9.399636 ms 
build tree time 21.381234 ms 
mapping data assosiation time 18.567006 ms 
--------------------stamp1317357856.473566055
points size 79833 
sort q time 4.654974 
seperate points time 11.012075 
scan registration time 21.881608 ms *************
mapping solver time 22.017012 ms 
filter time 9.673680 ms 
-----t: 0.0579904
OdomCount 910 & avg odom time 0.041734 ms ++++++++++++++++++++++
1317357856.473566055 WriteOdom laser_odom_to_init
1317357856.473566055 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.350022 ms
map corner num 100936  surf num 40187 
build tree time 23.467612 ms 
points size 82864 
sort q time 4.585900 
seperate points time 10.356934 
publication time 8.334528 ms 
whole laserOdometry time 8.341516 ms 
 
mapping solver time 22.780026 ms 
mapping data assosiation time 18.562304 ms 
mapping solver time 22.567956 ms 
filter time 6.687968 ms 
--------------------stamp1317357856.681164979
sort q time 4.500182 
seperate points time 9.715876 
publication time 9.005441 ms 
whole laserOdometry time 9.019003 ms 
 
mapping data assosiation time 28.723528 ms 
mapping solver time 18.186573 ms 
mapping data assosiation time 20.159136 ms 
--------------------stamp1317357856.784939050
filter time 8.914048 ms 
publication time 8.556609 ms 
whole laserOdometry time 8.571329 ms 
 
build tree time 30.335075 ms 
mapping data assosiation time 23.091499 ms 
mapping solver time 21.496632 ms 
points size 77679 
mapping data assosiation time 22.694969 ms 
sort q time 4.486447 
seperate points time 10.767876 
scan registration time 22.106110 ms *************
mapping solver time 20.910441 ms 
build tree time 24.729535 ms 
--------------------stamp1317357856.992464065
sort q time 4.392725 
seperate points time 10.282826 
publication time 8.333712 ms 
whole laserOdometry time 8.346268 ms 
 
mapping solver time 17.406923 ms 
filter time 7.064047 ms 
--------------------stamp1317357857.096215963
sort q time 4.214389 
seperate points time 10.040166 
mapping data assosiation time 23.800755 ms 
publication time 8.364476 ms 
whole laserOdometry time 8.379051 ms 
 
mapping solver time 25.746653 ms 
mapping data assosiation time 18.562583 ms 
mapping solver time 18.389811 ms 
filter time 9.175622 ms 
sort q time 4.389410 
seperate points time 9.672080 
scan registration time 19.531010 ms *************
build tree time 27.831642 ms 
publication time 6.785198 ms 
whole laserOdometry time 6.804612 ms 
 
-----t: 0.0300441
OdomCount 917 & avg odom time 0.041716 ms ++++++++++++++++++++++
1317357857.199991941 WriteOdom laser_odom_to_init
1317357857.199991941 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.621935 ms 
mapping solver time 21.342625 ms 
--------------------stamp1317357857.303766012
mapping solver time 14.513037 ms 
[0m[ INFO] [1718889940.236348512, 1317357857.331885617]: Received 146630 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889940.236410452, 1317357857.331885617]: Data saved to 1317357857096215.pcd[0m
-----t: 0.0364922
OdomCount 918 & avg odom time 0.041710 ms ++++++++++++++++++++++
mapping pub time 32.640862 ms 
whole mapping time 156.688198 ms +++++
mappingCount 761 & avg mapping time 118.967169 ms ++++++++++++++++++++++
build tree time 20.639414 ms 
mapping data assosiation time 18.269665 ms 
prepare time 9.045116 
mapping solver time 18.702523 ms 
publication time 10.596478 ms 
whole laserOdometry time 10.609748 ms 
 
-----t: 0.041625
OdomCount 919 & avg odom time 0.041710 ms ++++++++++++++++++++++
add points time 0.704685 ms
filter time 9.120541 ms 
build tree time 15.555954 ms 
points size 80538 
sort q time 4.393373 
seperate points time 10.310631 
mapping solver time 25.783730 ms 
-----t: 0.0328865
OdomCount 920 & avg odom time 0.041700 ms ++++++++++++++++++++++
1317357857.511312007 WriteOdom laser_odom_to_init
publication time 10.023864 ms 
whole laserOdometry time 10.033917 ms 
 
mapping data assosiation time 21.525533 ms 
mapping solver time 16.294678 ms 
mapping pub time 1.783950 ms 
whole mapping time 112.804636 ms +++++
mappingCount 763 & avg mapping time 118.957876 ms ++++++++++++++++++++++
1317357857.407537937 WriteOdom aft_mapped_to_init
map prepare time 2.017549 ms
map corner num 75123  surf num 28885 
--------------------stamp1317357857.615112066
sort q time 5.371263 
seperate points time 11.503699 
publication time 9.153461 ms 
whole laserOdometry time 9.166349 ms 
 
mapping data assosiation time 19.491811 ms 
mapping solver time 12.922271 ms 
mapping pub time 1.714318 ms 
whole mapping time 111.890946 ms +++++
mappingCount 764 & avg mapping time 118.948633 ms ++++++++++++++++++++++
points size 89173 
build tree time 19.236289 ms 
publication time 6.207821 ms 
whole laserOdometry time 6.222640 ms 
 
prepare time 14.252746 
sort q time 5.325033 
seperate points time 12.025740 
publication time 6.409790 ms 
whole laserOdometry time 6.418436 ms 
 
-----t: 0.032605
OdomCount 923 & avg odom time 0.041686 ms ++++++++++++++++++++++
1317357857.822686910 WriteOdom laser_odom_to_init
1317357857.822686910 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.571391 ms 
mapping data assosiation time 19.048094 ms 
--------------------stamp1317357857.926459074
points size 94664 
sort q time 5.867711 
seperate points time 11.183020 
map prepare time 2.885394 ms
map corner num 77002  surf num 29529 
build tree time 19.180618 ms 
-----t: 0.05385
OdomCount 924 & avg odom time 0.041699 ms ++++++++++++++++++++++
mapping solver time 16.467701 ms 
--------------------stamp1317357858.030210018
mapping data assosiation time 22.597060 ms 
sort q time 6.316459 
seperate points time 12.433866 
filter time 7.109547 ms 
mapping pub time 2.123343 ms 
whole mapping time 113.551635 ms +++++
mappingCount 767 & avg mapping time 118.941858 ms ++++++++++++++++++++++
1317357857.822686911 WriteOdom aft_mapped_to_init
-----t: 0.0417796
OdomCount 925 & avg odom time 0.041699 ms ++++++++++++++++++++++
1317357858.030210018 WriteOdom laser_odom_to_init
1317357858.030210018 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.627016 ms 
mapping solver time 17.137169 ms 
points size 97259 
mapping data assosiation time 21.020835 ms 
scan registration time 30.633024 ms *************
filter time 7.648202 ms 
-----t: 0.0478253
OdomCount 926 & avg odom time 0.041705 ms ++++++++++++++++++++++
1317357858.133963108 WriteOdom laser_odom_to_init
1317357858.133963108 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.202106 ms 
--------------------stamp1317357858.237689018
scan registration time 33.657326 ms *************
-----t: 0.0336362
OdomCount 927 & avg odom time 0.041697 ms ++++++++++++++++++++++
filter time 6.227252 ms 
build tree time 15.244149 ms 
--------------------stamp1317357858.341414928
points size 95120 
sort q time 5.501053 
seperate points time 12.623492 
1317357858.341414928 WriteOdom laser_odom_to_init
1317357858.341414928 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.926448 ms 
mapping pub time 2.136648 ms 
whole mapping time 117.371410 ms +++++
mappingCount 770 & avg mapping time 118.923441 ms ++++++++++++++++++++++
--------------------stamp1317357858.445164918
build tree time 19.620840 ms 
prepare time 10.621440 
mapping data assosiation time 21.307655 ms 
scan registration time 27.995645 ms *************
mapping solver time 20.402124 ms 
mapping data assosiation time 17.525947 ms 
mapping solver time 16.610527 ms 
[0m[ INFO] [1718889941.428855977, 1317357858.531030151]: Received 110501 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889941.428905076, 1317357858.531030151]: Data saved to 1317357858341414.pcd[0m
--------------------stamp1317357858.548914909
prepare time 11.544449 
sort q time 5.473417 
seperate points time 11.635418 
publication time 9.915158 ms 
whole laserOdometry time 9.928705 ms 
 
mapping solver time 24.655425 ms 
mapping data assosiation time 19.179238 ms 
mapping solver time 12.588066 ms 
filter time 5.995852 ms 
--------------------stamp1317357858.652692079
prepare time 10.348975 
sort q time 5.193327 
seperate points time 11.760523 
mapping data assosiation time 32.826302 ms 
mapping solver time 23.582534 ms 
mapping data assosiation time 20.289074 ms 
--------------------stamp1317357858.756467103
prepare time 11.615772 
sort q time 5.924094 
seperate points time 12.227760 
build tree time 20.673940 ms 
publication time 6.934358 ms 
whole laserOdometry time 6.951963 ms 
 
-----t: 0.0456544
OdomCount 932 & avg odom time 0.041657 ms ++++++++++++++++++++++
1317357858.756467103 WriteOdom laser_odom_to_init
1317357858.756467103 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.572436 ms 
mapping solver time 22.008697 ms 
--------------------stamp1317357858.860240936
points size 91101 
mapping solver time 18.937166 ms 
mapping pub time 2.919755 ms 
whole mapping time 119.415058 ms +++++
-----t: 0.0367501
OdomCount 933 & avg odom time 0.041652 ms ++++++++++++++++++++++
build tree time 17.183261 ms 
mapping data assosiation time 18.655830 ms 
mapping solver time 16.003312 ms 
--------------------stamp1317357858.964040994
points size 89678 
sort q time 5.019960 
seperate points time 11.610634 
filter time 7.259340 ms 
map prepare time 2.876279 ms
map corner num 82264  surf num 31727 
publication time 9.940022 ms 
whole laserOdometry time 9.956020 ms 
 
build tree time 20.178990 ms 
mapping data assosiation time 21.684771 ms 
--------------------stamp1317357859.067838907
points size 89463 
mapping solver time 22.083188 ms 
sort q time 5.206050 
seperate points time 11.221149 
-----t: 0.0286448
OdomCount 935 & avg odom time 0.041636 ms ++++++++++++++++++++++
mapping optimization time 106.332151 
add points time 0.781654 ms
filter time 5.378388 ms 
map prepare time 2.415294 ms
map corner num 82815  surf num 32035 
build tree time 17.908531 ms 
--------------------stamp1317357859.171636104
prepare time 12.038363 
sort q time 4.973115 
seperate points time 11.473108 
publication time 7.789148 ms 
whole laserOdometry time 7.801673 ms 
 
-----t: 0.0398078
OdomCount 936 & avg odom time 0.041634 ms ++++++++++++++++++++++
mapping solver time 13.825904 ms 
filter time 5.580974 ms 
mapping pub time 2.069141 ms 
whole mapping time 119.569895 ms +++++
mappingCount 777 & avg mapping time 118.895317 ms ++++++++++++++++++++++
1317357858.964040995 WriteOdom aft_mapped_to_init
map prepare time 2.125567 ms
map corner num 83377  surf num 32302 
build tree time 16.477472 ms 
points size 90257 
sort q time 5.715757 
seperate points time 11.161846 
scan registration time 25.059742 ms *************
mapping solver time 23.438133 ms 
mapping data assosiation time 21.559515 ms 
mapping solver time 17.718139 ms 
mapping optimization time 106.334612 
add points time 0.724144 ms
--------------------stamp1317357859.379260063
prepare time 9.838590 
scan registration time 30.741794 ms *************
mapping data assosiation time 24.829140 ms 
mapping solver time 22.144893 ms 
mapping data assosiation time 22.761847 ms 
mapping solver time 14.490480 ms 
mapping pub time 2.050999 ms 
whole mapping time 119.238031 ms +++++
mappingCount 779 & avg mapping time 118.893341 ms ++++++++++++++++++++++
sort q time 5.465190 
seperate points time 10.508498 
build tree time 19.772721 ms 
-----t: 0.0315088
OdomCount 939 & avg odom time 0.041613 ms ++++++++++++++++++++++
mapping data assosiation time 26.783373 ms 
mapping solver time 23.438057 ms 
--------------------stamp1317357859.586877107
prepare time 11.402239 
mapping solver time 21.136872 ms 
mapping optimization time 114.307424 
sort q time 5.422054 
seperate points time 11.701151 
add points time 0.706596 ms
publication time 7.544797 ms 
whole laserOdometry time 7.556958 ms 
 
build tree time 18.299082 ms 
mapping data assosiation time 23.914308 ms 
--------------------stamp1317357859.690700054
mapping solver time 21.180370 ms 
sort q time 5.020607 
seperate points time 9.995841 
publication time 5.919569 ms 
whole laserOdometry time 5.934693 ms 
 
-----t: 0.0271978
OdomCount 941 & avg odom time 0.041583 ms ++++++++++++++++++++++
1317357859.690700054 WriteOdom laser_odom_to_init
1317357859.690700054 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.705065 ms 
[0m[ INFO] [1718889942.644245588, 1317357859.740467476]: Received 119687 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889942.644322824, 1317357859.740467476]: Data saved to 1317357859483056.pcd[0m
mapping pub time 29.822205 ms 
whole mapping time 148.476821 ms +++++
mappingCount 781 & avg mapping time 118.943027 ms ++++++++++++++++++++++
--------------------stamp1317357859.794501066
sort q time 5.580309 
seperate points time 10.659473 
publication time 7.712231 ms 
whole laserOdometry time 7.725378 ms 
 
mapping data assosiation time 21.046901 ms 
mapping solver time 19.759222 ms 
mapping pub time 2.377529 ms 
whole mapping time 122.966950 ms +++++
mappingCount 782 & avg mapping time 118.948179 ms ++++++++++++++++++++++
prepare time 10.537280 
sort q time 5.335038 
seperate points time 11.026342 
publication time 8.759131 ms 
whole laserOdometry time 8.895796 ms -----t: 0.0390229
OdomCount 943 & avg odom time 0.041572 ms ++++++++++++++++++++++
mapping solver time 19.686988 ms 
mapping data assosiation time 22.945521 ms 
points size 91405 
add points time 0.846504 ms
scan registration time 29.397845 ms *************
publication time 7.867345 ms 
whole laserOdometry time 7.878576 ms 
 
-----t: 0.049247
OdomCount 944 & avg odom time 0.041580 ms ++++++++++++++++++++++
mapping data assosiation time 24.264056 ms 
mapping solver time 20.446819 ms 
points size 92825 
sort q time 6.172703 
seperate points time 11.483366 
scan registration time 26.459905 ms *************
mapping data assosiation time 28.939728 ms 
-----t: 0.0319022
OdomCount 945 & avg odom time 0.041570 ms ++++++++++++++++++++++
filter time 5.777858 ms 
mapping pub time 2.173504 ms 
whole mapping time 130.059891 ms +++++
mappingCount 784 & avg mapping time 118.974708 ms ++++++++++++++++++++++
1317357859.898277998 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 18.403769 ms 
--------------------stamp1317357860.209645986
prepare time 9.797151 
sort q time 5.378294 
seperate points time 12.161883 
publication time 8.515231 ms 
whole laserOdometry time 8.530105 ms 
 
mapping data assosiation time 26.580757 ms 
-----t: 0.0506177
OdomCount 946 & avg odom time 0.041579 ms ++++++++++++++++++++++
mapping solver time 22.043653 ms 
filter time 6.204519 ms 
--------------------stamp1317357860.313395023
build tree time 21.394845 ms 
sort q time 5.070813 
seperate points time 12.653507 
mapping data assosiation time 29.504191 ms 
publication time 9.354930 ms 
whole laserOdometry time 9.375403 ms 
 
mapping solver time 23.643601 ms 
mapping data assosiation time 23.198960 ms 
mapping solver time 18.614381 ms 
points size 94027 
map prepare time 3.251669 ms
map corner num 89277  surf num 35970 
build tree time 23.049774 ms 
-----t: 0.0404333
OdomCount 948 & avg odom time 0.041577 ms ++++++++++++++++++++++
mapping data assosiation time 27.260448 ms 
mapping solver time 24.121778 ms 
points size 94664 
mapping data assosiation time 27.139763 ms 
mapping solver time 19.562743 ms 
mapping pub time 2.132885 ms 
whole mapping time 135.752526 ms +++++
mappingCount 787 & avg mapping time 119.030840 ms ++++++++++++++++++++++
1317357860.520806074 WriteOdom laser_odom_to_init
build tree time 19.076208 ms 
mapping data assosiation time 24.537595 ms 
points size 95353 
mapping solver time 28.456413 ms 
sort q time 5.161719 
seperate points time 12.165371 
scan registration time 32.164681 ms *************
-----t: 0.0350622
OdomCount 950 & avg odom time 0.041576 ms ++++++++++++++++++++++
publication time 10.313062 ms 
whole laserOdometry time 10.327317 ms 
 
mapping solver time 16.924949 ms 
mapping optimization time 123.227595 
add points time 0.790509 ms
map prepare time 2.542359 ms
map corner num 90620  surf num 36653 
--------------------stamp1317357860.728281021
points size 96746 
prepare time 13.301609 
build tree time 25.828095 ms 
sort q time 6.396662 
seperate points time 17.136142 
publication time 8.141578 ms 
whole laserOdometry time 8.153709 ms 
 
mapping solver time 23.635964 ms 
--------------------stamp1317357860.832057952
points size 98209 
mapping solver time 28.895552 ms 
mapping optimization time 142.441982 
add points time 0.902938 ms
sort q time 5.368498 
seperate points time 12.708679 
mapping pub time 2.418674 ms 
whole mapping time 157.291174 ms +++++
mappingCount 789 & avg mapping time 119.100449 ms ++++++++++++++++++++++
1317357860.624531031 WriteOdom aft_mapped_to_init
map prepare time 2.744334 ms
map corner num 91515  surf num 37190 
publication time 7.648764 ms 
whole laserOdometry time 7.659285 ms 
 
build tree time 23.252209 ms 
mapping data assosiation time 24.402520 ms 
--------------------stamp1317357860.935858964
points size 98699 
prepare time 15.368553 
mapping solver time 29.023778 ms 
sort q time 6.431408 
seperate points time 14.920977 
scan registration time 36.448699 ms *************
mapping data assosiation time 33.802951 ms 
publication time 9.113904 ms 
whole laserOdometry time 9.131747 ms 
 
mapping solver time 19.075502 ms 
filter time 6.417038 ms 
map prepare time 2.976225 ms
map corner num 92398  surf num 37627 
--------------------stamp1317357861.039701938
points size 99228 
prepare time 11.145409 
sort q time 6.324027 
seperate points time 12.061057 
mapping data assosiation time 34.095266 ms 
publication time 9.125695 ms 
whole laserOdometry time 9.144093 ms 
 
-----t: 0.0529281
OdomCount 954 & avg odom time 0.041604 ms ++++++++++++++++++++++
mapping data assosiation time 26.460454 ms 
points size 99490 
mapping solver time 23.421053 ms 
scan registration time 29.176124 ms *************
[0m[ INFO] [1718889944.082142673, 1317357861.178583771]: Received 131279 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889944.082196545, 1317357861.178583771]: Data saved to 1317357860832057.pcd[0m
-----t: 0.0467706
OdomCount 955 & avg odom time 0.041609 ms ++++++++++++++++++++++
mapping data assosiation time 27.424299 ms 
--------------------stamp1317357861.247467994
points size 100050 
prepare time 13.621005 
scan registration time 32.592437 ms *************
-----t: 0.0398724
OdomCount 956 & avg odom time 0.041607 ms ++++++++++++++++++++++
mapping solver time 26.551139 ms 
mapping optimization time 149.881094 
add points time 1.153102 ms
drop lidar frame in mapping for real time performance 
prepare time 11.501795 
build tree time 22.467910 ms 
sort q time 5.575034 
seperate points time 30.883185 
scan registration time 55.380450 ms *************
publication time 9.405269 ms 
whole laserOdometry time 9.418413 ms 
 
mapping solver time 27.394201 ms 
--------------------stamp1317357861.455327987
mapping data assosiation time 36.112293 ms 
publication time 9.487378 ms 
whole laserOdometry time 9.498662 ms 
 
filter time 8.921430 ms 
map prepare time 2.658196 ms
map corner num 94912  surf num 38985 
build tree time 19.238502 ms 
--------------------stamp1317357861.559297084
mapping data assosiation time 30.365581 ms 
prepare time 12.530683 
sort q time 6.788237 
seperate points time 14.543078 
scan registration time 34.427397 ms *************
mapping solver time 37.986083 ms 
-----t: 0.0463315
OdomCount 959 & avg odom time 0.041615 ms ++++++++++++++++++++++
1317357861.559297084 WriteOdom laser_odom_to_init
1317357861.559297084 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.688295 ms 
--------------------stamp1317357861.663311004
points size 102155 
mapping pub time 2.400555 ms 
whole mapping time 163.324853 ms +++++
mappingCount 794 & avg mapping time 119.355172 ms ++++++++++++++++++++++
scan registration time 30.083069 ms *************
publication time 7.967961 ms 
whole laserOdometry time 8.006380 ms 
 
-----t: 0.0690493
OdomCount 960 & avg odom time 0.041644 ms ++++++++++++++++++++++
1317357861.663311004 WriteOdom laser_odom_to_init
1317357861.663311004 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.941239 ms 
--------------------stamp1317357861.767373085
points size 102212 
sort q time 5.859753 
seperate points time 13.116927 
publication time 8.452482 ms 
whole laserOdometry time 8.468031 ms 
 
mapping data assosiation time 36.615333 ms 
1317357861.767373085 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.636914 ms 
filter time 6.566801 ms 
mapping pub time 2.300617 ms 
whole mapping time 166.859058 ms +++++
mappingCount 795 & avg mapping time 119.414930 ms ++++++++++++++++++++++
1317357861.559297085 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357861.871459007
points size 102482 
sort q time 6.703012 
seperate points time 12.543474 
scan registration time 30.473153 ms *************
mapping data assosiation time 36.046402 ms 
-----t: 0.0504809
OdomCount 962 & avg odom time 0.041647 ms ++++++++++++++++++++++
1317357861.871459007 WriteOdom laser_odom_to_init
1317357861.871459007 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.992812 ms 
--------------------stamp1317357861.975620031
points size 102773 
sort q time 5.930906 
seperate points time 13.145538 
publication time 9.321974 ms 
whole laserOdometry time 9.335816 ms 
 
-----t: 0.0414957
OdomCount 963 & avg odom time 0.041647 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 21.090151 ms 
--------------------stamp1317357862.079849958
prepare time 10.830030 
mapping data assosiation time 32.701168 ms 
scan registration time 29.438447 ms *************
publication time 10.085592 ms 
whole laserOdometry time 10.107567 ms 
 
mapping solver time 41.578271 ms 
mapping data assosiation time 31.512566 ms 
--------------------stamp1317357862.184128046
points size 103105 
mapping solver time 31.524387 ms 
map prepare time 3.742007 ms
map corner num 98988  surf num 40992 
publication time 9.461241 ms 
whole laserOdometry time 9.474012 ms 
 
-----t: 0.0440494
OdomCount 965 & avg odom time 0.041665 ms ++++++++++++++++++++++
mapping data assosiation time 29.663043 ms 
--------------------stamp1317357862.288455009
prepare time 11.484801 
sort q time 7.054697 
seperate points time 13.330278 
publication time 8.991745 ms 
whole laserOdometry time 9.006595 ms 
 
mapping data assosiation time 35.975064 ms 
-----t: 0.0556197
OdomCount 966 & avg odom time 0.041679 ms ++++++++++++++++++++++
1317357862.288455009 WriteOdom laser_odom_to_init
1317357862.288455009 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.385981 ms 
mapping pub time 2.909785 ms 
whole mapping time 186.787667 ms +++++
mappingCount 798 & avg mapping time 119.653050 ms ++++++++++++++++++++++
publication time 10.562325 ms 
whole laserOdometry time 10.575963 ms 
 
mapping data assosiation time 34.077666 ms 
points size 103325 
mapping solver time 38.899014 ms 
sort q time 5.875547 
seperate points time 13.774716 
scan registration time 29.852046 ms *************
publication time 9.417595 ms 
whole laserOdometry time 9.433308 ms 
 
mapping data assosiation time 38.066192 ms 
mapping solver time 28.618329 ms 
--------------------stamp1317357862.601675987
points size 103066 
sort q time 5.764657 
seperate points time 13.506819 
publication time 8.735006 ms 
whole laserOdometry time 8.765794 ms 
 
mapping data assosiation time 35.910445 ms 
--------------------stamp1317357862.706049919
points size 102951 
sort q time 6.113801 
seperate points time 14.209542 
mapping data assosiation time 37.189844 ms 
publication time 10.643970 ms 
whole laserOdometry time 10.659595 ms 
 
1317357862.706049919 WriteOdom laser_odom_to_init
1317357862.706049919 WriteOdom aft_mapped_to_init_high_frec
filter time 7.221138 ms 
map prepare time 2.894487 ms
map corner num 102386  surf num 42659 
points size 102904 
build tree time 25.703511 ms 
publication time 7.677773 ms 
whole laserOdometry time 7.698316 ms 
 
-----t: 0.0438138
OdomCount 971 & avg odom time 0.041715 ms ++++++++++++++++++++++
1317357862.810400962 WriteOdom laser_odom_to_init
1317357862.810400962 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.601421 ms 
mapping solver time 34.044483 ms 
--------------------stamp1317357862.914705038
points size 102834 
mapping data assosiation time 35.994796 ms 
publication time 9.096345 ms 
whole laserOdometry time 9.110216 ms 
 
mapping solver time 41.533659 ms 
filter time 7.751004 ms 
--------------------stamp1317357863.018935918
mapping pub time 42.386588 ms 
whole mapping time 232.020093 ms +++++
mappingCount 801 & avg mapping time 119.972425 ms ++++++++++++++++++++++
1317357862.601675987 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
scan registration time 30.633804 ms *************
build tree time 25.720243 ms 
-----t: 0.0591473
OdomCount 973 & avg odom time 0.041732 ms ++++++++++++++++++++++
mapping data assosiation time 36.138376 ms 
--------------------stamp1317357863.123166084
prepare time 11.389391 
sort q time 7.032965 
seperate points time 13.015347 
scan registration time 29.618817 ms *************
mapping data assosiation time 39.576357 ms 
publication time 10.793554 ms 
whole laserOdometry time 10.810885 ms 
 
mapping solver time 33.241713 ms 
filter time 7.832461 ms 
map prepare time 4.502968 ms
map corner num 104796  surf num 43911 
sort q time 6.106745 
seperate points time 13.000613 
build tree time 29.464670 ms 
publication time 12.031942 ms 
whole laserOdometry time 12.044613 ms 
 
-----t: 0.0467421
OdomCount 975 & avg odom time 0.041756 ms ++++++++++++++++++++++
mapping data assosiation time 39.131400 ms 
--------------------stamp1317357863.331506013
points size 103486 
sort q time 6.284679 
seperate points time 13.287539 
publication time 11.631459 ms 
whole laserOdometry time 11.659251 ms 
 
-----t: 0.0459575
OdomCount 976 & avg odom time 0.041761 ms ++++++++++++++++++++++
mapping solver time 31.037563 ms 
mapping optimization time 184.978788 
add points time 0.822715 ms
mapping pub time 2.372486 ms 
whole mapping time 200.825928 ms +++++
mappingCount 803 & avg mapping time 120.160315 ms ++++++++++++++++++++++
points size 103752 
sort q time 7.200483 
seperate points time 15.893067 
scan registration time 37.440876 ms *************
build tree time 38.460379 ms 
publication time 12.395297 ms 
whole laserOdometry time 12.421986 ms 
 
-----t: 0.0586096
OdomCount 977 & avg odom time 0.041778 ms ++++++++++++++++++++++
mapping data assosiation time 41.531353 ms 
--------------------stamp1317357863.539654016
points size 103722 
prepare time 11.351740 
sort q time 6.071301 
seperate points time 11.682881 
publication time 12.437766 ms 
whole laserOdometry time 12.452567 ms 
 
mapping data assosiation time 42.594880 ms 
mapping solver time 32.578776 ms 
--------------------stamp1317357863.643598079
mapping pub time 2.688413 ms 
whole mapping time 217.012219 ms +++++
mappingCount 804 & avg mapping time 120.280795 ms ++++++++++++++++++++++
sort q time 5.843848 
seperate points time 24.843323 
publication time 9.126174 ms 
whole laserOdometry time 9.138465 ms 
 
mapping data assosiation time 44.377144 ms 
--------------------stamp1317357863.747520923
prepare time 11.392860 
sort q time 6.356121 
seperate points time 20.621435 
publication time 10.054618 ms 
whole laserOdometry time 10.085909 ms 
 
--------------------stamp1317357863.851391077
prepare time 13.161574 
map prepare time 3.288442 ms
map corner num 108378  surf num 45720 
sort q time 5.817959 
seperate points time 13.782434 
build tree time 25.928707 ms 
-----t: 0.0438273
OdomCount 981 & avg odom time 0.041804 ms ++++++++++++++++++++++
mapping data assosiation time 35.816601 ms 
--------------------stamp1317357863.955212116
points size 102441 
mapping solver time 40.582506 ms 
sort q time 6.747390 
seperate points time 12.943241 
scan registration time 30.914939 ms *************
publication time 7.448973 ms 
whole laserOdometry time 7.476873 ms 
 
-----t: 0.047802
OdomCount 982 & avg odom time 0.041810 ms ++++++++++++++++++++++
mapping solver time 24.128676 ms 
filter time 7.866668 ms 
map prepare time 4.003546 ms
map corner num 109544  surf num 46404 
sort q time 5.923207 
seperate points time 13.817471 
publication time 12.231944 ms 
whole laserOdometry time 12.246549 ms 
 
--------------------stamp1317357864.162858009
points size 102418 
mapping solver time 44.780756 ms 
sort q time 6.960865 
seperate points time 22.520987 publication time 8.073934 ms 
whole laserOdometry time 8.085864 ms 
 
-----t: 0.0532997
OdomCount 984 & avg odom time 0.041853 ms ++++++++++++++++++++++
--------------------stamp1317357864.266727924
prepare time 11.459880 
mapping solver time 42.216297 ms 
mapping optimization time 218.282952 
add points time 0.949506 ms
mapping pub time 2.470510 ms 
whole mapping time 237.165770 ms +++++
mappingCount 807 & avg mapping time 120.624061 ms ++++++++++++++++++++++
1317357863.851391077 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 12.887143 ms 
whole laserOdometry time 12.902466 ms 
 
build tree time 28.808349 ms 
-----t: 0.0663378
OdomCount 985 & avg odom time 0.041878 ms ++++++++++++++++++++++
1317357864.266727924 WriteOdom laser_odom_to_init
1317357864.266727924 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357864.370623111
prepare time 11.489678 
scan registration time 33.162820 ms *************
mapping solver time 47.888880 ms 
publication time 10.801302 ms 
whole laserOdometry time 10.815725 ms 
 
-----t: 0.0623729
OdomCount 986 & avg odom time 0.041899 ms ++++++++++++++++++++++
1317357864.370623111 WriteOdom laser_odom_to_init
1317357864.370623111 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 49.819753 ms 
points size 102598 
sort q time 5.910813 
seperate points time 13.608560 
mapping solver time 42.729265 ms 
publication time 9.796025 ms 
whole laserOdometry time 9.810812 ms 
 
-----t: 0.0573029
OdomCount 987 & avg odom time 0.041915 ms ++++++++++++++++++++++
1317357864.474517107 WriteOdom laser_odom_to_init
1317357864.474517107 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.752719 ms 
--------------------stamp1317357864.578459978
sort q time 6.175505 
seperate points time 13.693434 
publication time 10.202345 ms 
whole laserOdometry time 10.210940 ms -----t: 0.0515112
OdomCount 988 & avg odom time 0.041924 ms ++++++++++++++++++++++
--------------------stamp1317357864.682425975
points size 103132 
sort q time 5.790278 
seperate points time 13.916437 
add points time 0.942683 ms
filter time 11.506358 ms 
map prepare time 4.328429 ms
map corner num 113161  surf num 48739 
1317357864.682425975 WriteOdom laser_odom_to_init
1317357864.682425975 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.711018 ms 
points size 102952 
sort q time 6.009877 
seperate points time 13.394018 
-----t: 0.0381002
OdomCount 990 & avg odom time 0.041936 ms ++++++++++++++++++++++
1317357864.786392927 WriteOdom laser_odom_to_init
1317357864.786392927 WriteOdom aft_mapped_to_init_high_frec
publication time 9.600931 ms 
whole laserOdometry time 9.614946 ms 
 
mapping solver time 46.548931 ms 
--------------------stamp1317357864.890383005
mapping data assosiation time 39.951297 ms 
sort q time 5.717177 
seperate points time 13.343904 
mapping solver time 39.317512 ms 
filter time 8.877078 ms 
map prepare time 2.931893 ms
map corner num 77305  surf num 36061 
build tree time 17.736336 ms 
--------------------stamp1317357864.994374036
points size 102657 
mapping data assosiation time 39.390247 ms 
scan registration time 33.856672 ms *************
publication time 10.091279 ms 
whole laserOdometry time 10.106249 ms 
 
mapping solver time 47.550740 ms 
--------------------stamp1317357865.098366022
points size 102390 
sort q time 5.686750 
seperate points time 13.766328 
mapping solver time 34.873118 ms 
filter time 7.246369 ms 
map prepare time 3.008245 ms
map corner num 78518  surf num 36817 
build tree time 18.168062 ms 
--------------------stamp1317357865.202357053
points size 101573 
prepare time 19.080314 
mapping data assosiation time 43.827574 ms 
scan registration time 39.988886 ms *************
publication time 10.576054 ms 
whole laserOdometry time 10.588817 ms 
 
-----t: 0.0594847
OdomCount 994 & avg odom time 0.041963 ms ++++++++++++++++++++++
mapping data assosiation time 38.869167 ms 
points size 100710 
mapping solver time 32.008155 ms 
sort q time 5.625862 
seperate points time 14.102012 
filter time 10.706243 ms 
publication time 13.275984 ms 
whole laserOdometry time 13.310366 ms 
 
map prepare time 4.427700 ms
map corner num 79742  surf num 37547 
build tree time 19.827907 ms 
--------------------stamp1317357865.410290002
mapping data assosiation time 38.630966 ms 
sort q time 5.507112 
seperate points time 14.012824 
publication time 9.012777 ms 
whole laserOdometry time 9.030692 ms 
 
mapping data assosiation time 35.454866 ms 
--------------------stamp1317357865.514256000
points size 98076 
prepare time 12.466551 
sort q time 5.526799 
seperate points time 14.502486 
map prepare time 3.287153 ms
map corner num 81015  surf num 38332 
publication time 9.794911 ms 
whole laserOdometry time 9.807735 ms 
 
mapping solver time 50.643146 ms 
mapping data assosiation time 34.672418 ms 
--------------------stamp1317357865.722075939
prepare time 10.632138 
filter time 6.304633 ms 
map prepare time 3.473734 ms
map corner num 82075  surf num 38942 
publication time 10.893493 ms 
whole laserOdometry time 10.915625 ms 
 
-----t: 0.0511752
OdomCount 999 & avg odom time 0.041991 ms ++++++++++++++++++++++
1317357865.722075939 WriteOdom laser_odom_to_init
1317357865.722075939 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.307618 ms 
--------------------stamp1317357865.825870990
prepare time 10.534346 
mapping solver time 33.716191 ms 
publication time 8.962702 ms 
whole laserOdometry time 8.980124 ms 
 
mapping data assosiation time 41.994803 ms 
mapping solver time 23.795251 ms 
filter time 6.620496 ms 
mapping pub time 2.287773 ms 
whole mapping time 174.392110 ms +++++
mappingCount 815 & avg mapping time 121.405653 ms ++++++++++++++++++++++
1317357865.514256001 WriteOdom aft_mapped_to_init
points size 95884 
build tree time 24.981344 ms 
publication time 9.722564 ms 
whole laserOdometry time 9.738952 ms 
 
mapping data assosiation time 39.988320 ms 
-----t: 0.0625495
OdomCount 1001 & avg odom time 0.042019 ms ++++++++++++++++++++++
1317357865.929621934 WriteOdom laser_odom_to_init
1317357865.929621934 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357866.033371925
points size 96211 
sort q time 6.382369 
seperate points time 14.961519 
mapping data assosiation time 44.116053 ms 
mapping solver time 36.044799 ms 
mapping optimization time 187.628523 
add points time 0.767774 ms
[0m[ INFO] [1718889949.028021733, 1317357866.122409805]: Received 124752 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889949.028064798, 1317357866.122409805]: Data saved to 1317357865722075.pcd[0m
points size 96217 
build tree time 21.013097 ms 
sort q time 6.275111 
seperate points time 12.824238 
publication time 14.148870 ms 
whole laserOdometry time 14.168092 ms 
 
-----t: 0.0502298
OdomCount 1003 & avg odom time 0.042024 ms ++++++++++++++++++++++
mapping solver time 34.559887 ms 
points size 95403 
sort q time 5.241019 
seperate points time 13.140663 
publication time 10.110476 ms 
whole laserOdometry time 10.125336 ms 
 
-----t: 0.0408077
OdomCount 1004 & avg odom time 0.042022 ms ++++++++++++++++++++++
1317357866.240845918 WriteOdom laser_odom_to_init
1317357866.240845918 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.489141 ms 
filter time 7.212865 ms 
--------------------stamp1317357866.344569921
prepare time 11.930236 
sort q time 6.361014 
seperate points time 12.643231 
mapping data assosiation time 35.838914 ms 
publication time 10.275986 ms 
whole laserOdometry time 10.294356 ms 
 
-----t: 0.0438828
OdomCount 1005 & avg odom time 0.042024 ms ++++++++++++++++++++++
mapping solver time 39.512308 ms 
--------------------stamp1317357866.448251008
points size 94524 
prepare time 12.285869 
sort q time 5.067605 
seperate points time 12.854033 
mapping solver time 41.807497 ms 
filter time 9.262668 ms 
map prepare time 3.908626 ms
map corner num 86913  surf num 41329 
build tree time 23.812637 ms 
points size 94022 
sort q time 5.468979 
seperate points time 13.414847 
mapping data assosiation time 38.684612 ms 
publication time 10.114420 ms 
whole laserOdometry time 10.130493 ms 
 
-----t: 0.0443534
OdomCount 1007 & avg odom time 0.042102 ms ++++++++++++++++++++++
1317357866.551909923 WriteOdom laser_odom_to_init
1317357866.551909923 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.607342 ms 
--------------------stamp1317357866.655612945
mapping data assosiation time 33.920074 ms 
sort q time 5.393613 
seperate points time 14.095552 
publication time 9.468455 ms 
whole laserOdometry time 9.485550 ms 
 
filter time 8.643935 ms 
-----t: 0.0577414
OdomCount 1008 & avg odom time 0.042117 ms ++++++++++++++++++++++
build tree time 21.084210 ms 
--------------------stamp1317357866.759315013
prepare time 11.557797 
mapping data assosiation time 34.744818 ms 
sort q time 5.144046 
seperate points time 12.484982 
publication time 9.143158 ms 
whole laserOdometry time 9.162622 ms 
 
-----t: 0.0414067
OdomCount 1009 & avg odom time 0.042117 ms ++++++++++++++++++++++
mapping data assosiation time 33.616768 ms 
--------------------stamp1317357866.863018989
points size 92981 
add points time 1.160526 ms
mapping pub time 2.472244 ms 
whole mapping time 180.559927 ms +++++
mappingCount 820 & avg mapping time 121.837617 ms ++++++++++++++++++++++
publication time 11.155400 ms 
whole laserOdometry time 11.169474 ms 
 
-----t: 0.050926
OdomCount 1010 & avg odom time 0.042125 ms ++++++++++++++++++++++
1317357866.863018989 WriteOdom laser_odom_to_init
1317357866.863018989 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.998079 ms 
mapping data assosiation time 33.315666 ms 
points size 92036 
sort q time 5.084354 
seperate points time 12.020001 
mapping solver time 36.375070 ms 
publication time 10.828291 ms 
whole laserOdometry time 10.844695 ms 
 
mapping data assosiation time 36.723295 ms 
mapping solver time 31.817667 ms 
points size 91295 
sort q time 5.232280 
seperate points time 12.755308 
mapping pub time 33.071423 ms 
whole mapping time 212.650003 ms +++++
mappingCount 821 & avg mapping time 121.948237 ms ++++++++++++++++++++++
-----t: 0.0453785
OdomCount 1012 & avg odom time 0.042124 ms ++++++++++++++++++++++
1317357867.070445060 WriteOdom laser_odom_to_init
1317357867.070445060 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357867.174123048
prepare time 12.548406 
sort q time 5.458316 
seperate points time 12.157177 
mapping solver time 32.449317 ms 
-----t: 0.045425
OdomCount 1013 & avg odom time 0.042127 ms ++++++++++++++++++++++
1317357867.174123048 WriteOdom laser_odom_to_init
1317357867.174123048 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.767948 ms 
filter time 8.117228 ms 
sort q time 5.232478 
seperate points time 12.359049 
build tree time 23.982773 ms 
-----t: 0.0441832
OdomCount 1014 & avg odom time 0.042129 ms ++++++++++++++++++++++
mapping data assosiation time 35.362024 ms 
mapping solver time 30.693194 ms 
points size 91616 
prepare time 10.372445 
sort q time 5.359242 
seperate points time 12.171547 
mapping data assosiation time 38.331853 ms 
mapping solver time 29.027016 ms 
mapping pub time 2.033371 ms 
whole mapping time 173.532486 ms +++++
mappingCount 823 & avg mapping time 122.063926 ms ++++++++++++++++++++++
--------------------stamp1317357867.485184907
prepare time 11.891449 
sort q time 5.869707 
seperate points time 12.918045 
mapping data assosiation time 35.436616 ms 
-----t: 0.0393728
OdomCount 1016 & avg odom time 0.042135 ms ++++++++++++++++++++++
mapping solver time 37.023245 ms 
--------------------stamp1317357867.588936090
prepare time 11.226011 
sort q time 5.017333 
seperate points time 12.685109 
mapping optimization time 162.362036 
add points time 1.056504 ms
map prepare time 3.083756 ms
map corner num 94195  surf num 44589 
build tree time 25.009357 ms 
-----t: 0.078405
OdomCount 1017 & avg odom time 0.042171 ms ++++++++++++++++++++++
points size 92320 
scan registration time 28.264183 ms *************
mapping solver time 30.837975 ms 
-----t: 0.0505037
OdomCount 1018 & avg odom time 0.042179 ms ++++++++++++++++++++++
mapping data assosiation time 31.382824 ms 
--------------------stamp1317357867.796462059
points size 92246 
map prepare time 3.174576 ms
map corner num 95452  surf num 45029 
publication time 11.866639 ms 
whole laserOdometry time 11.883343 ms 
 
mapping data assosiation time 29.217736 ms 
--------------------stamp1317357867.900238990
mapping solver time 32.158586 ms 
sort q time 6.000042 
seperate points time 16.494721 
mapping data assosiation time 35.347777 ms 
-----t: 0.0408836
OdomCount 1020 & avg odom time 0.042175 ms ++++++++++++++++++++++
1317357867.900238990 WriteOdom laser_odom_to_init
1317357867.900238990 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.008608 ms 
filter time 7.308937 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.055739 ms
map corner num 96648  surf num 45380 
points size 92265 
scan registration time 26.689719 ms *************
mapping data assosiation time 35.036302 ms 
mapping solver time 26.237428 ms 
--------------------stamp1317357868.107789039
sort q time 5.069710 
seperate points time 12.368356 
mapping pub time 2.249852 ms 
whole mapping time 158.811672 ms +++++
mappingCount 827 & avg mapping time 122.291558 ms ++++++++++++++++++++++
publication time 12.895896 ms 
whole laserOdometry time 12.923738 ms 
 
build tree time 26.029288 ms 
mapping data assosiation time 28.195367 ms 
points size 92919 
sort q time 16.823187 
seperate points time 23.852868 
-----t: 0.0397371
OdomCount 1023 & avg odom time 0.042189 ms ++++++++++++++++++++++
mapping data assosiation time 32.894138 ms 
mapping solver time 16.394518 ms 
mapping optimization time 142.044936 
add points time 0.927433 ms
map prepare time 3.724240 ms
map corner num 98818  surf num 46028 
points size 94572 
sort q time 6.252853 
seperate points time 13.969447 
build tree time 26.679760 ms 
mapping data assosiation time 32.157150 ms 
publication time 12.322885 ms 
whole laserOdometry time 12.330603 ms 
 
-----t: 0.0406035
OdomCount 1024 & avg odom time 0.042187 ms ++++++++++++++++++++++
mapping solver time 23.934689 ms 
--------------------stamp1317357868.419161081
points size 94720 
mapping data assosiation time 31.051891 ms 
prepare time 11.944596 
mapping solver time 22.290364 ms 
sort q time 7.662508 
seperate points time 27.432416 
map prepare time 3.921283 ms
map corner num 99897  surf num 46324 
-----t: 0.0464447
OdomCount 1025 & avg odom time 0.042191 ms ++++++++++++++++++++++
build tree time 24.063552 ms 
--------------------stamp1317357868.522957086
points size 93522 
prepare time 12.281726 
scan registration time 31.038826 ms *************
publication time 10.515914 ms 
whole laserOdometry time 10.530887 ms 
 
-----t: 0.0396597
OdomCount 1026 & avg odom time 0.042189 ms ++++++++++++++++++++++
mapping data assosiation time 33.020270 ms 
mapping solver time 27.516183 ms 
filter time 8.893138 ms 
map prepare time 3.211796 ms
map corner num 101091  surf num 46694 
prepare time 13.070555 
scan registration time 30.865827 ms *************
build tree time 26.277664 ms 
publication time 11.994004 ms 
whole laserOdometry time 12.015080 ms 
 
mapping data assosiation time 34.094477 ms 
-----t: 0.077945
OdomCount 1027 & avg odom time 0.042224 ms ++++++++++++++++++++++
points size 93013 
prepare time 12.722000 
sort q time 5.359173 
seperate points time 13.685451 
scan registration time 31.639421 ms *************
mapping data assosiation time 32.259357 ms 
publication time 10.725103 ms 
whole laserOdometry time 10.742598 ms 
 
mapping solver time 29.146876 ms 
filter time 9.438657 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357868.834424972
prepare time 11.472904 
sort q time 5.545577 
seperate points time 12.024309 
mapping data assosiation time 42.689644 ms 
publication time 13.079461 ms 
whole laserOdometry time 13.089572 ms 
 
-----t: 0.0420386
OdomCount 1029 & avg odom time 0.042235 ms ++++++++++++++++++++++
1317357868.834424972 WriteOdom laser_odom_to_init
1317357868.834424972 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.038037 ms 
--------------------stamp1317357868.938273906
mapping data assosiation time 32.723067 ms 
sort q time 5.676293 
seperate points time 13.233459 
mapping solver time 28.385478 ms 
filter time 9.610192 ms 
-----t: 0.0495773
OdomCount 1030 & avg odom time 0.042242 ms ++++++++++++++++++++++
build tree time 22.562673 ms 
points size 91928 
sort q time 4.935607 
seperate points time 11.029424 
publication time 10.691016 ms 
whole laserOdometry time 10.723580 ms 
 
mapping data assosiation time 31.937913 ms 
--------------------stamp1317357869.145989894
prepare time 10.046983 
map prepare time 3.982736 ms
map corner num 100251  surf num 44707 
sort q time 5.556413 
seperate points time 12.954331 
publication time 14.599247 ms 
whole laserOdometry time 14.610599 ms 
 
-----t: 0.0666071
OdomCount 1032 & avg odom time 0.042270 ms ++++++++++++++++++++++
1317357869.145989894 WriteOdom laser_odom_to_init
1317357869.145989894 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.486823 ms 
--------------------stamp1317357869.249811887
prepare time 11.156904 
sort q time 5.020086 
seperate points time 12.131745 
mapping data assosiation time 34.126424 ms 
mapping solver time 18.100267 ms 
filter time 7.388367 ms 
map prepare time 3.730156 ms
map corner num 101610  surf num 45220 
build tree time 21.290835 ms 
points size 92727 
sort q time 5.335172 
seperate points time 12.231375 
-----t: 0.0344668
OdomCount 1034 & avg odom time 0.042256 ms ++++++++++++++++++++++
mapping data assosiation time 30.662575 ms 
--------------------stamp1317357869.457505941
prepare time 10.063668 
filter time 8.613052 ms 
mapping pub time 2.213571 ms 
whole mapping time 144.585400 ms +++++
mappingCount 835 & avg mapping time 122.676241 ms ++++++++++++++++++++++
1317357869.145989895 WriteOdom aft_mapped_to_init
publication time 8.423516 ms 
whole laserOdometry time 8.438097 ms 
 
-----t: 0.0376916
OdomCount 1035 & avg odom time 0.042252 ms ++++++++++++++++++++++
1317357869.457505941 WriteOdom laser_odom_to_init
1317357869.457505941 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.443198 ms 
mapping solver time 22.151006 ms 
points size 90830 
prepare time 10.459828 
mapping data assosiation time 34.368836 ms 
publication time 9.619639 ms 
whole laserOdometry time 9.638956 ms 
 
mapping solver time 26.883085 ms 
mapping optimization time 139.946214 
add points time 1.012577 ms
mapping pub time 4.792076 ms 
whole mapping time 160.330332 ms +++++
mappingCount 836 & avg mapping time 122.721288 ms ++++++++++++++++++++++
-----t: 0.0645013
OdomCount 1036 & avg odom time 0.042273 ms ++++++++++++++++++++++
build tree time 25.925616 ms 
points size 90533 
mapping data assosiation time 32.740837 ms 
publication time 12.495741 ms 
whole laserOdometry time 12.520060 ms 
 
mapping data assosiation time 28.726743 ms 
points size 89129 
filter time 8.556720 ms 
publication time 13.808333 ms 
whole laserOdometry time 13.821232 ms 
 
-----t: 0.0581503
OdomCount 1038 & avg odom time 0.042296 ms ++++++++++++++++++++++
mapping data assosiation time 28.716870 ms 
--------------------stamp1317357869.872700929
prepare time 11.449926 
mapping solver time 32.427903 ms 
publication time 9.623702 ms 
whole laserOdometry time 9.635291 ms 
 
1317357869.872700929 WriteOdom laser_odom_to_init
mapping solver time 23.120961 ms 
filter time 7.653624 ms 
map prepare time 3.017851 ms
map corner num 106296  surf num 46733 
points size 86682 
build tree time 29.108262 ms 
publication time 9.153465 ms 
whole laserOdometry time 9.168366 ms 
 
-----t: 0.0371486
OdomCount 1040 & avg odom time 0.042289 ms ++++++++++++++++++++++
mapping solver time 26.061737 ms 
--------------------stamp1317357870.080318927
prepare time 11.466248 
mapping solver time 17.178544 ms 
filter time 9.548170 ms 
publication time 9.323177 ms 
whole laserOdometry time 9.343670 ms 
 
build tree time 27.612730 ms 
mapping data assosiation time 26.445485 ms 
--------------------stamp1317357870.184113979
mapping solver time 26.191153 ms 
scan registration time 26.965263 ms *************
mapping data assosiation time 31.207074 ms 
publication time 13.901188 ms 
whole laserOdometry time 13.919225 ms 
 
mapping solver time 20.196335 ms 
filter time 8.145451 ms 
--------------------stamp1317357870.287938117
sort q time 5.048292 
seperate points time 11.637145 
mapping data assosiation time 29.150887 ms 
publication time 10.105150 ms 
whole laserOdometry time 10.128186 ms 
 
mapping solver time 27.542749 ms 
mapping data assosiation time 27.278251 ms 
--------------------stamp1317357870.391766071
prepare time 9.861743 
filter time 8.633698 ms 
publication time 9.846798 ms 
whole laserOdometry time 9.864342 ms 
 
-----t: 0.0488823
OdomCount 1044 & avg odom time 0.042310 ms ++++++++++++++++++++++
mapping pub time 48.250542 ms 
whole mapping time 197.236022 ms +++++
mappingCount 841 & avg mapping time 122.960746 ms ++++++++++++++++++++++
--------------------stamp1317357870.495589017
prepare time 9.797038 
sort q time 5.556845 
seperate points time 12.327571 
mapping data assosiation time 32.955024 ms 
publication time 11.770055 ms 
whole laserOdometry time 11.782219 ms 
 
mapping solver time 28.260972 ms 
mapping data assosiation time 32.872863 ms 
prepare time 9.551541 
sort q time 6.157751 
seperate points time 12.435854 
filter time 11.839437 ms 
mapping pub time 2.188328 ms 
whole mapping time 176.289436 ms +++++
mappingCount 842 & avg mapping time 123.024104 ms ++++++++++++++++++++++
1317357870.287938118 WriteOdom aft_mapped_to_init
-----t: 0.065396
OdomCount 1046 & avg odom time 0.042331 ms ++++++++++++++++++++++
1317357870.599437952 WriteOdom laser_odom_to_init
1317357870.599437952 WriteOdom aft_mapped_to_init_high_frec
build tree time 31.053079 ms 
--------------------stamp1317357870.703272104
prepare time 9.775830 
mapping solver time 23.357324 ms 
publication time 9.273806 ms 
whole laserOdometry time 9.288549 ms 
 
-----t: 0.0494883
OdomCount 1047 & avg odom time 0.042338 ms ++++++++++++++++++++++
mapping solver time 22.453524 ms 
filter time 12.501177 ms 
prepare time 10.614878 
map prepare time 4.205853 ms
map corner num 112118  surf num 50525 
scan registration time 28.833185 ms *************
build tree time 33.178737 ms 
-----t: 0.052697
OdomCount 1048 & avg odom time 0.042348 ms ++++++++++++++++++++++
mapping data assosiation time 36.061986 ms 
--------------------stamp1317357870.910973072
points size 88633 
mapping solver time 32.226178 ms 
prepare time 10.862330 
mapping data assosiation time 36.140781 ms 
publication time 14.797131 ms 
whole laserOdometry time 14.808495 ms 
 
mapping solver time 25.710367 ms 
filter time 9.463627 ms 
map prepare time 3.013602 ms
map corner num 113445  surf num 51590 
--------------------stamp1317357871.014844894
prepare time 9.849118 
sort q time 4.943630 
seperate points time 12.027597 
scan registration time 26.185253 ms *************
publication time 9.557952 ms 
whole laserOdometry time 9.574655 ms 
 
mapping solver time 21.638757 ms 
--------------------stamp1317357871.118741989
mapping solver time 17.243238 ms 
filter time 11.182931 ms 
mapping pub time 2.164321 ms 
whole mapping time 154.950026 ms +++++
mappingCount 845 & avg mapping time 123.183457 ms ++++++++++++++++++++++
1317357870.807105064 WriteOdom aft_mapped_to_init
build tree time 27.299211 ms 
mapping data assosiation time 31.539429 ms 
points size 87877 
sort q time 4.724440 
seperate points time 12.390636 
mapping solver time 29.085935 ms 
scan registration time 29.337575 ms *************
publication time 9.316886 ms 
whole laserOdometry time 9.342417 ms 
 
mapping data assosiation time 36.514894 ms 
mapping solver time 21.310350 ms 
filter time 9.502607 ms 
--------------------stamp1317357871.326577901
prepare time 12.891187 
scan registration time 30.086965 ms *************
build tree time 34.097958 ms 
-----t: 0.0353257
OdomCount 1053 & avg odom time 0.042346 ms ++++++++++++++++++++++
mapping data assosiation time 37.800292 ms 
--------------------stamp1317357871.430495977
sort q time 5.373446 
seperate points time 12.034836 
mapping data assosiation time 37.858824 ms 
mapping solver time 22.078343 ms 
filter time 12.606472 ms 
mapping pub time 2.188585 ms 
whole mapping time 184.707890 ms +++++
mappingCount 847 & avg mapping time 123.306539 ms ++++++++++++++++++++++
1317357871.118741989 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357871.534415006
points size 88034 
sort q time 4.874841 
seperate points time 12.076456 
publication time 9.218874 ms 
whole laserOdometry time 9.231423 ms 
 
-----t: 0.0452177
OdomCount 1055 & avg odom time 0.042343 ms ++++++++++++++++++++++
1317357871.534415006 WriteOdom laser_odom_to_init
1317357871.534415006 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.306145 ms 
--------------------stamp1317357871.638335943
mapping data assosiation time 32.379951 ms 
sort q time 5.148547 
seperate points time 11.916365 
mapping solver time 27.633601 ms 
filter time 9.718154 ms 
publication time 8.329144 ms 
whole laserOdometry time 8.344389 ms 
 
mapping pub time 3.546971 ms 
whole mapping time 178.930295 ms +++++
mappingCount 848 & avg mapping time 123.372139 ms ++++++++++++++++++++++
1317357871.326577902 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 28.376698 ms 
--------------------stamp1317357871.742232084
mapping data assosiation time 31.257585 ms 
sort q time 5.163518 
seperate points time 11.837715 
mapping solver time 24.537101 ms 
publication time 12.243454 ms 
whole laserOdometry time 12.388100 ms -----t: 0.0445472
OdomCount 1057 & avg odom time 0.042348 ms ++++++++++++++++++++++
mapping data assosiation time 31.991627 ms 
mapping solver time 17.932639 ms 
filter time 10.284650 ms 
points size 90961 
sort q time 5.173598 
seperate points time 13.135688 
build tree time 29.156274 ms 
publication time 9.656956 ms 
whole laserOdometry time 9.668664 ms 
 
mapping data assosiation time 34.921619 ms 
-----t: 0.0559235
OdomCount 1058 & avg odom time 0.042361 ms ++++++++++++++++++++++
1317357871.846126079 WriteOdom laser_odom_to_init
1317357871.846126079 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.389207 ms 
points size 91387 
sort q time 4.969466 
seperate points time 12.621479 
publication time 10.453557 ms 
whole laserOdometry time 10.468809 ms 
 
-----t: 0.0382518
OdomCount 1059 & avg odom time 0.042357 ms ++++++++++++++++++++++
filter time 11.420892 ms 
mapping pub time 2.080650 ms 
whole mapping time 171.147119 ms +++++
mappingCount 850 & avg mapping time 123.463830 ms ++++++++++++++++++++++
1317357871.742232084 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 25.835102 ms 
prepare time 9.982372 
sort q time 4.984788 
seperate points time 12.344226 
scan registration time 26.570650 ms *************
publication time 10.260282 ms 
whole laserOdometry time 10.278528 ms 
 
-----t: 0.0400043
OdomCount 1060 & avg odom time 0.042355 ms ++++++++++++++++++++++
1317357872.053961992 WriteOdom laser_odom_to_init
1317357872.053961992 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.022377 ms 
mapping data assosiation time 26.063038 ms 
--------------------stamp1317357872.157882928
points size 93446 
filter time 12.945832 ms 
scan registration time 28.788369 ms *************
publication time 11.788942 ms 
whole laserOdometry time 11.801698 ms 
 
build tree time 32.110300 ms 
mapping data assosiation time 28.550223 ms 
points size 94357 
mapping solver time 31.383164 ms 
publication time 10.722388 ms 
whole laserOdometry time 10.735866 ms 
 
mapping data assosiation time 34.198276 ms 
mapping solver time 17.609298 ms 
mapping optimization time 145.255868 
add points time 1.481310 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357872.365719079
prepare time 10.935531 
build tree time 31.932334 ms 
sort q time 5.391465 
seperate points time 12.139604 
publication time 11.633801 ms 
whole laserOdometry time 11.647529 ms 
 
mapping data assosiation time 34.836960 ms 
-----t: 0.053818
OdomCount 1063 & avg odom time 0.042368 ms ++++++++++++++++++++++
mapping solver time 30.030644 ms 
--------------------stamp1317357872.469638109
prepare time 10.227659 
sort q time 5.450299 
seperate points time 13.220725 
publication time 10.249833 ms 
whole laserOdometry time 10.265609 ms 
 
mapping solver time 27.448362 ms 
filter time 11.239903 ms 
map prepare time 4.189529 ms
map corner num 124349  surf num 56833 
build tree time 29.762067 ms 
points size 93782 
sort q time 5.045647 
seperate points time 12.833926 
publication time 10.027031 ms 
whole laserOdometry time 10.041281 ms 
 
-----t: 0.040205
OdomCount 1065 & avg odom time 0.042367 ms ++++++++++++++++++++++
mapping data assosiation time 30.541331 ms 
--------------------stamp1317357872.677522897
prepare time 10.547409 
map prepare time 4.262772 ms
map corner num 125681  surf num 57412 
scan registration time 38.073784 ms *************
build tree time 34.172111 ms 
publication time 13.364046 ms 
whole laserOdometry time 13.381968 ms 
 
-----t: 0.071253
OdomCount 1066 & avg odom time 0.042395 ms ++++++++++++++++++++++
--------------------stamp1317357872.781465053
prepare time 10.294415 
sort q time 6.644536 
seperate points time 13.002973 
publication time 10.861092 ms 
whole laserOdometry time 10.875860 ms 
 
mapping solver time 23.423155 ms 
filter time 9.966754 ms 
--------------------stamp1317357872.885432004
points size 94127 
sort q time 5.098199 
seperate points time 11.329687 
build tree time 38.509076 ms 
mapping data assosiation time 35.664094 ms 
--------------------stamp1317357872.989398956
points size 94059 
mapping data assosiation time 35.714602 ms 
publication time 13.291031 ms 
whole laserOdometry time 13.307171 ms 
 
mapping solver time 21.777271 ms 
filter time 9.399319 ms 
map prepare time 3.465470 ms
map corner num 128392  surf num 58451 
--------------------stamp1317357873.093364000
points size 92735 
sort q time 5.221326 
seperate points time 13.333627 
mapping data assosiation time 36.353202 ms 
-----t: 0.0501138
OdomCount 1070 & avg odom time 0.042449 ms ++++++++++++++++++++++
mapping solver time 28.019457 ms 
--------------------stamp1317357873.197308063
prepare time 11.835955 
sort q time 5.230377 
seperate points time 12.149927 
mapping solver time 28.135477 ms 
map prepare time 3.714169 ms
map corner num 129659  surf num 58915 
build tree time 29.621432 ms 
--------------------stamp1317357873.301249980
points size 88999 
mapping data assosiation time 33.947640 ms 
publication time 9.312838 ms 
whole laserOdometry time 9.324863 ms 
 
-----t: 0.0529582
OdomCount 1072 & avg odom time 0.042468 ms ++++++++++++++++++++++
1317357873.301249980 WriteOdom laser_odom_to_init
1317357873.301249980 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.336551 ms 
--------------------stamp1317357873.405215978
mapping solver time 24.830543 ms 
filter time 10.542352 ms 
publication time 11.743956 ms 
whole laserOdometry time 11.765798 ms 
 
-----t: 0.0450551
OdomCount 1073 & avg odom time 0.042471 ms ++++++++++++++++++++++
1317357873.405215978 WriteOdom laser_odom_to_init
1317357873.405215978 WriteOdom aft_mapped_to_init_high_frec
build tree time 32.291263 ms 
mapping data assosiation time 30.962824 ms 
--------------------stamp1317357873.509182929
points size 88395 
mapping solver time 31.465234 ms 
publication time 9.577008 ms 
whole laserOdometry time 9.605367 ms 
 
-----t: 0.054142
OdomCount 1074 & avg odom time 0.042482 ms ++++++++++++++++++++++
1317357873.509182929 WriteOdom laser_odom_to_init
1317357873.509182929 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.277891 ms 
filter time 9.997022 ms 
map prepare time 5.183403 ms
map corner num 132160  surf num 59865 
sort q time 4.564158 
seperate points time 10.000175 
build tree time 37.699898 ms 
-----t: 0.0426546
OdomCount 1075 & avg odom time 0.042482 ms ++++++++++++++++++++++
mapping solver time 22.726901 ms 
--------------------stamp1317357873.717068910
prepare time 12.058924 
sort q time 4.690728 
seperate points time 12.341034 
mapping data assosiation time 34.300970 ms 
scan registration time 28.823178 ms *************
publication time 8.013605 ms 
whole laserOdometry time 8.047149 ms 
 
mapping solver time 29.618042 ms 
filter time 9.444995 ms 
map prepare time 3.294554 ms
map corner num 133252  surf num 60263 
--------------------stamp1317357873.821008920
prepare time 9.888270 
sort q time 11.198792 
seperate points time 18.131916 
scan registration time 32.666953 ms *************
publication time 9.115230 ms 
whole laserOdometry time 9.127419 ms 
 
mapping solver time 35.539291 ms 
--------------------stamp1317357873.924952030
points size 86792 
sort q time 4.829727 
seperate points time 11.758347 
mapping solver time 30.444742 ms 
add points time 14.046864 ms
filter time 12.786518 ms 
[0m[ INFO] [1718889956.892102521, 1317357873.988457507]: Received 195184 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889956.892144626, 1317357873.988457507]: Data saved to 1317357873613126.pcd[0m
-----t: 0.0674303
OdomCount 1078 & avg odom time 0.042505 ms ++++++++++++++++++++++
--------------------stamp1317357874.028898954
points size 86864 
prepare time 14.782296 
map prepare time 4.283199 ms
map corner num 134397  surf num 60787 
sort q time 7.941531 
seperate points time 19.417538 
scan registration time 40.121717 ms *************
-----t: 0.0475779
OdomCount 1079 & avg odom time 0.042510 ms ++++++++++++++++++++++
mapping data assosiation time 29.875146 ms 
points size 89741 
sort q time 4.987114 
seperate points time 12.856825 
publication time 10.102592 ms 
whole laserOdometry time 10.115883 ms 
 
-----t: 0.0485574
OdomCount 1080 & avg odom time 0.042515 ms ++++++++++++++++++++++
mapping solver time 22.393292 ms 
filter time 9.804548 ms 
prepare time 11.950699 
sort q time 5.056036 
seperate points time 12.678695 
publication time 10.251948 ms 
whole laserOdometry time 10.316456 ms 
 
-----t: 0.0480686
OdomCount 1081 & avg odom time 0.042521 ms ++++++++++++++++++++++
mapping data assosiation time 31.193303 ms 
--------------------stamp1317357874.340703964
points size 93883 
sort q time 5.417006 
seperate points time 11.868150 
scan registration time 32.278094 ms *************
publication time 10.808729 ms 
whole laserOdometry time 10.820988 ms 
 
-----t: 0.0419381
OdomCount 1082 & avg odom time 0.042520 ms ++++++++++++++++++++++
filter time 9.547459 ms 
map prepare time 4.366651 ms
map corner num 136717  surf num 62045 
--------------------stamp1317357874.444622993
build tree time 44.607516 ms 
publication time 9.651534 ms 
whole laserOdometry time 9.669455 ms 
 
mapping data assosiation time 36.692613 ms 
mapping solver time 24.997048 ms 
--------------------stamp1317357874.548566102
prepare time 11.158250 
sort q time 5.241278 
seperate points time 11.906292 
mapping solver time 22.675932 ms 
filter time 14.367270 ms --------------------stamp1317357874.652512073
sort q time 5.748425 
seperate points time 12.324709 
mapping data assosiation time 37.476247 ms 
-----t: 0.0408657
OdomCount 1085 & avg odom time 0.042528 ms ++++++++++++++++++++++
1317357874.652512073 WriteOdom laser_odom_to_init
1317357874.652512073 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.738883 ms 
--------------------stamp1317357874.756428003
mapping data assosiation time 36.280919 ms 
sort q time 5.162955 
seperate points time 13.077103 
mapping solver time 32.387828 ms 
publication time 10.286763 ms 
whole laserOdometry time 10.308547 ms 
 
map prepare time 3.274936 ms
map corner num 138880  surf num 63540 
build tree time 30.009119 ms 
--------------------stamp1317357874.860343933
points size 95671 
prepare time 9.682383 
sort q time 6.375874 
seperate points time 12.931952 
mapping data assosiation time 40.474665 ms 
publication time 9.284449 ms 
whole laserOdometry time 9.301726 ms 
 
-----t: 0.0472521
OdomCount 1087 & avg odom time 0.042529 ms ++++++++++++++++++++++
1317357874.860343933 WriteOdom laser_odom_to_init
1317357874.860343933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 39.684056 ms 
--------------------stamp1317357874.964297056
mapping data assosiation time 30.961880 ms 
points size 96334 
sort q time 5.179776 
seperate points time 12.549406 
scan registration time 27.579070 ms *************
mapping solver time 28.455336 ms 
mapping optimization time 171.351956 
add points time 1.220569 ms
filter time 11.643259 ms 
publication time 12.359046 ms 
whole laserOdometry time 12.377458 ms 
 
-----t: 0.0580251
OdomCount 1088 & avg odom time 0.042543 ms ++++++++++++++++++++++
1317357874.964297056 WriteOdom laser_odom_to_init
1317357874.964297056 WriteOdom aft_mapped_to_init_high_frec
build tree time 37.821238 ms 
sort q time 5.650479 
seperate points time 12.766744 
mapping data assosiation time 40.103611 ms 
publication time 22.691370 ms 
whole laserOdometry time 22.721449 ms 
 
1317357875.068239927 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357875.172173023
points size 99856 
prepare time 11.391429 
mapping optimization time 170.140721 
sort q time 6.142700 
seperate points time 13.677734 
add points time 1.908449 ms
drop lidar frame in mapping for real time performance 
publication time 11.530932 ms 
whole laserOdometry time 11.547033 ms 
 
-----t: 0.0486248
OdomCount 1090 & avg odom time 0.042559 ms ++++++++++++++++++++++
build tree time 31.167710 ms 
--------------------stamp1317357875.276113986
prepare time 12.762675 
sort q time 6.308968 
seperate points time 14.815814 
publication time 11.360715 ms 
whole laserOdometry time 11.412524 ms -----t: 0.0446371
OdomCount 1091 & avg odom time 0.042561 ms ++++++++++++++++++++++
mapping data assosiation time 35.688535 ms 
--------------------stamp1317357875.380059957
points size 101149 
sort q time 5.669118 
seperate points time 13.895836 
map prepare time 4.302829 ms
map corner num 111520  surf num 54939 
publication time 29.426700 ms 
whole laserOdometry time 29.436138 ms 
 
build tree time 31.084990 ms 
--------------------stamp1317357875.484025955
prepare time 10.847994 
sort q time 6.412198 
seperate points time 13.354820 
mapping solver time 37.016284 ms 
-----t: 0.0422087
OdomCount 1093 & avg odom time 0.042559 ms ++++++++++++++++++++++
mapping data assosiation time 37.694780 ms 
--------------------stamp1317357875.587991952
prepare time 11.240929 
sort q time 6.029211 
seperate points time 23.604022 
build tree time 35.006560 ms 
-----t: 0.0453902
OdomCount 1094 & avg odom time 0.042562 ms ++++++++++++++++++++++
mapping data assosiation time 36.036746 ms 
--------------------stamp1317357875.691956996
points size 101300 
mapping solver time 31.934789 ms 
scan registration time 28.333232 ms *************
publication time 9.507361 ms 
whole laserOdometry time 9.536958 ms 
 
mapping data assosiation time 40.243972 ms 
mapping solver time 22.057101 ms 
mapping optimization time 168.072959 
add points time 0.928201 ms
filter time 9.620199 ms 
map prepare time 4.681649 ms
map corner num 113824  surf num 56468 
scan registration time 28.185094 ms *************
-----t: 0.0357035
OdomCount 1096 & avg odom time 0.042551 ms ++++++++++++++++++++++
1317357875.795898914 WriteOdom laser_odom_to_init
1317357875.795898914 WriteOdom aft_mapped_to_init_high_frec
publication time 12.131854 ms 
whole laserOdometry time 12.144015 ms 
 
mapping data assosiation time 40.489852 ms 
--------------------stamp1317357875.899820089
points size 101467 
sort q time 6.358140 
seperate points time 13.645747 
publication time 9.403211 ms 
whole laserOdometry time 9.422696 ms 
 
mapping data assosiation time 44.283329 ms 
1317357875.899820089 WriteOdom laser_odom_to_init
1317357875.899820089 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.210864 ms 
mapping optimization time 180.167810 
add points time 1.004948 ms
[0m[ INFO] [1718889958.892738669, 1317357875.990485110]: Received 172186 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889958.892779541, 1317357875.990485110]: Data saved to 1317357875587991.pcd[0m
--------------------stamp1317357876.003765106
points size 101385 
build tree time 32.131545 ms 
publication time 10.446222 ms 
whole laserOdometry time 10.461276 ms 
 
mapping data assosiation time 42.502955 ms 
--------------------stamp1317357876.107707023
sort q time 6.127035 
seperate points time 14.415494 
scan registration time 30.999762 ms *************
mapping data assosiation time 44.199410 ms 
-----t: 0.0485023
OdomCount 1099 & avg odom time 0.042579 ms ++++++++++++++++++++++
mapping solver time 26.377355 ms 
filter time 9.442818 ms 
map prepare time 3.157707 ms
map corner num 108220  surf num 50314 
--------------------stamp1317357876.211648941
prepare time 11.095998 
sort q time 6.198666 
seperate points time 14.888520 
publication time 12.066450 ms 
whole laserOdometry time 12.080236 ms 
 
-----t: 0.046243
OdomCount 1100 & avg odom time 0.042582 ms ++++++++++++++++++++++
mapping data assosiation time 49.069529 ms 
mapping solver time 33.779619 ms 
points size 101632 
sort q time 17.534502 
seperate points time 26.420053 
-----t: 0.0460932
OdomCount 1101 & avg odom time 0.042585 ms ++++++++++++++++++++++
mapping solver time 27.921607 ms 
filter time 8.839953 ms 
--------------------stamp1317357876.419533967
points size 101623 
build tree time 33.669695 ms 
scan registration time 37.679310 ms *************
publication time 11.339523 ms 
whole laserOdometry time 11.371012 ms 
 
mapping data assosiation time 46.065669 ms 
--------------------stamp1317357876.523475885
prepare time 11.742053 
sort q time 5.858687 
seperate points time 14.236270 
publication time 8.921527 ms 
whole laserOdometry time 8.937328 ms 
 
-----t: 0.0445535
OdomCount 1103 & avg odom time 0.042599 ms ++++++++++++++++++++++
mapping solver time 35.820347 ms 
filter time 8.566820 ms 
map prepare time 4.376948 ms
map corner num 110691  surf num 51709 
prepare time 14.165356 
sort q time 5.461739 
seperate points time 13.631522 
-----t: 0.0395837
OdomCount 1104 & avg odom time 0.042597 ms ++++++++++++++++++++++
mapping data assosiation time 42.453273 ms 
--------------------stamp1317357876.731420040
points size 100098 
sort q time 10.940964 
seperate points time 25.817052 
mapping data assosiation time 47.085939 ms 
mapping solver time 19.543833 ms 
mapping optimization time 179.620938 
add points time 1.019597 ms
mapping pub time 2.317615 ms 
whole mapping time 196.183833 ms +++++
mappingCount 875 & avg mapping time 125.334307 ms ++++++++++++++++++++++
--------------------stamp1317357876.835386991
points size 100515 
sort q time 5.718704 
seperate points time 14.241415 
publication time 9.278952 ms 
whole laserOdometry time 9.312149 ms 
 
-----t: 0.0512768
OdomCount 1106 & avg odom time 0.042611 ms ++++++++++++++++++++++
--------------------stamp1317357876.939321041
points size 100772 
sort q time 5.478706 
seperate points time 13.717769 
mapping data assosiation time 42.298793 ms 
publication time 10.418820 ms 
whole laserOdometry time 10.439302 ms 
 
-----t: 0.0499335
OdomCount 1107 & avg odom time 0.042618 ms ++++++++++++++++++++++
mapping solver time 30.886509 ms 
mapping optimization time 189.633411 
add points time 1.163065 ms
[0m[ INFO] [1718889959.933657640, 1317357877.032987534]: Received 166453 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889959.933701023, 1317357877.032987534]: Data saved to 1317357876627418.pcd[0m
points size 100739 
sort q time 6.025594 
seperate points time 14.439008 
publication time 7.910018 ms 
whole laserOdometry time 7.927416 ms 
 
-----t: 0.0595183
OdomCount 1108 & avg odom time 0.042633 ms ++++++++++++++++++++++
--------------------stamp1317357877.147255897
points size 100894 
prepare time 13.623006 
mapping solver time 39.241614 ms 
sort q time 6.567898 
seperate points time 16.038274 
scan registration time 37.858992 ms *************
-----t: 0.0579138
OdomCount 1109 & avg odom time 0.042647 ms ++++++++++++++++++++++
mapping solver time 26.993907 ms 
points size 101115 
map prepare time 3.460107 ms
map corner num 114393  surf num 53919 
publication time 11.363239 ms 
whole laserOdometry time 11.382735 ms 
 
-----t: 0.0447882
OdomCount 1110 & avg odom time 0.042649 ms ++++++++++++++++++++++
mapping data assosiation time 40.331383 ms 
--------------------stamp1317357877.355187892
points size 101038 
sort q time 5.640158 
seperate points time 13.829351 
mapping solver time 54.053304 ms publication time 17.702951 ms 
whole laserOdometry time 17.716877 ms 
 
-----t: 0.0700799
OdomCount 1111 & avg odom time 0.042674 ms ++++++++++++++++++++++
--------------------stamp1317357877.459155082
prepare time 10.755103 
mapping solver time 39.339737 ms 
filter time 14.078642 ms 
-----t: 0.0484879
OdomCount 1112 & avg odom time 0.042679 ms ++++++++++++++++++++++
1317357877.459155082 WriteOdom laser_odom_to_init
1317357877.459155082 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357877.563147068
points size 101248 
sort q time 5.297053 
seperate points time 12.182638 
publication time 9.461305 ms 
whole laserOdometry time 9.476560 ms 
 
mapping solver time 50.700354 ms 
--------------------stamp1317357877.667135953
prepare time 11.215108 
sort q time 5.610221 
seperate points time 12.483721 
mapping solver time 32.913607 ms 
mapping optimization time 200.354158 
add points time 1.191336 ms
mapping pub time 2.394052 ms 
whole mapping time 221.668890 ms +++++
mappingCount 879 & avg mapping time 125.774925 ms ++++++++++++++++++++++
build tree time 24.388210 ms 
--------------------stamp1317357877.771125078
points size 101353 
sort q time 5.306274 
seperate points time 12.295452 
publication time 11.579534 ms 
whole laserOdometry time 11.596556 ms 
 
mapping solver time 43.044806 ms 
--------------------stamp1317357877.875117063
points size 101419 
sort q time 5.381298 
seperate points time 12.728556 
publication time 10.892915 ms 
whole laserOdometry time 10.910381 ms 
 
-----t: 0.038669
OdomCount 1116 & avg odom time 0.042679 ms ++++++++++++++++++++++
1317357877.459155083 WriteOdom aft_mapped_to_init
build tree time 25.431582 ms 
points size 102591 
sort q time 5.985600 
seperate points time 13.751172 
mapping data assosiation time 48.019156 ms 
mapping solver time 32.637418 ms 
-----t: 0.0693575
OdomCount 1117 & avg odom time 0.042703 ms ++++++++++++++++++++++
--------------------stamp1317357878.083122968
prepare time 10.867392 
sort q time 6.416240 
seperate points time 12.429397 
scan registration time 28.296778 ms *************
filter time 10.414706 ms 
-----t: 0.0554103
OdomCount 1118 & avg odom time 0.042714 ms ++++++++++++++++++++++
mapping pub time 31.351347 ms 
whole mapping time 223.124540 ms +++++
mappingCount 881 & avg mapping time 125.982886 ms ++++++++++++++++++++++
points size 102732 
sort q time 6.283012 
seperate points time 13.835139 
publication time 11.711453 ms 
whole laserOdometry time 11.725832 ms 
 
mapping data assosiation time 48.914871 ms 
-----t: 0.0605416
OdomCount 1119 & avg odom time 0.042730 ms ++++++++++++++++++++++
mapping solver time 41.435687 ms 
points size 102717 
sort q time 5.835594 
seperate points time 13.605071 
mapping data assosiation time 50.055993 ms 
-----t: 0.0496314
OdomCount 1120 & avg odom time 0.042736 ms ++++++++++++++++++++++
mapping solver time 40.312262 ms 
--------------------stamp1317357878.395071983
prepare time 12.264361 
sort q time 6.255394 
seperate points time 12.668944 
-----t: 0.0610065
OdomCount 1121 & avg odom time 0.042752 ms ++++++++++++++++++++++
mapping data assosiation time 46.923093 ms 
--------------------stamp1317357878.499062061
points size 102707 
prepare time 11.242934 
sort q time 6.272573 
seperate points time 12.755564 
publication time 11.520398 ms 
whole laserOdometry time 11.536652 ms 
 
-----t: 0.0545285
OdomCount 1122 & avg odom time 0.042763 ms ++++++++++++++++++++++
mapping data assosiation time 48.638110 ms 
--------------------stamp1317357878.603029966
mapping optimization time 205.233450 
filter time 12.832170 ms 
publication time 10.888974 ms 
whole laserOdometry time 10.902711 ms 
 
-----t: 0.0481931
OdomCount 1123 & avg odom time 0.042768 ms ++++++++++++++++++++++
1317357878.603029966 WriteOdom laser_odom_to_init
1317357878.603029966 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357878.707020998
prepare time 10.726363 
sort q time 6.547576 
seperate points time 13.468841 
publication time 9.734718 ms 
whole laserOdometry time 9.750773 ms 
 
-----t: 0.0400211
OdomCount 1124 & avg odom time 0.042765 ms ++++++++++++++++++++++
--------------------stamp1317357878.811011075
points size 102389 
sort q time 5.992473 
seperate points time 13.369528 
publication time 10.250133 ms 
whole laserOdometry time 10.268109 ms 
 
1317357878.811011075 WriteOdom laser_odom_to_init
1317357878.811011075 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.384407 ms
map corner num 121798  surf num 58079 
build tree time 26.097389 ms 
points size 102329 
sort q time 5.533807 
seperate points time 12.758116 
mapping data assosiation time 48.975509 ms 
mapping solver time 43.765076 ms 
--------------------stamp1317357879.018944978
points size 102240 
sort q time 5.650885 
seperate points time 13.745691 
publication time 10.321320 ms 
whole laserOdometry time 10.337272 ms 
 
mapping solver time 37.073871 ms 
add points time 1.203334 ms
-----t: 0.0531211
OdomCount 1127 & avg odom time 0.042773 ms ++++++++++++++++++++++
1317357879.018944978 WriteOdom laser_odom_to_init
1317357879.018944978 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.466548 ms 
whole mapping time 224.425465 ms +++++
mappingCount 885 & avg mapping time 126.460638 ms ++++++++++++++++++++++
--------------------stamp1317357879.122934103
prepare time 11.285522 
sort q time 6.719536 
seperate points time 12.709078 
publication time 11.763713 ms 
whole laserOdometry time 11.783960 ms 
 
-----t: 0.0532199
OdomCount 1128 & avg odom time 0.042783 ms ++++++++++++++++++++++
mapping solver time 41.723331 ms 
sort q time 5.960973 
seperate points time 12.916058 
publication time 9.934003 ms 
whole laserOdometry time 9.948220 ms 
 
mapping data assosiation time 49.126296 ms 
-----t: 0.0592939
OdomCount 1129 & avg odom time 0.042797 ms ++++++++++++++++++++++
mapping solver time 36.842406 ms 
--------------------stamp1317357879.330890893
drop lidar frame in mapping for real time performance 
sort q time 6.064742 
seperate points time 12.816302 

 
build tree time 34.397569 ms 
mapping data assosiation time 44.201519 ms 
points size 102080 
scan registration time 30.965087 ms *************
mapping solver time 63.501843 ms 
-----t: 0.0622639
OdomCount 1131 & avg odom time 0.042816 ms ++++++++++++++++++++++
--------------------stamp1317357879.538875102
mapping data assosiation time 48.370157 ms 
sort q time 6.613595 
seperate points time 13.489023 
publication time 11.805993 ms 
whole laserOdometry time 11.819601 ms 
 
add points time 1.271668 ms
mapping pub time 2.394265 ms 
whole mapping time 269.818488 ms +++++
mappingCount 887 & avg mapping time 126.749296 ms ++++++++++++++++++++++
1317357879.122934103 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 3.326636 ms
map corner num 124268  surf num 59160 
--------------------stamp1317357879.642842054
points size 101907 
sort q time 7.538670 
seperate points time 15.985460 
publication time 12.495473 ms 
whole laserOdometry time 12.506997 ms 
 
mapping data assosiation time 54.536322 ms 
1317357879.642842054 WriteOdom laser_odom_to_init
1317357879.642842054 WriteOdom aft_mapped_to_init_high_frec--------------------stamp1317357879.746833086
points size 101860 
mapping solver time 56.637299 ms 
sort q time 6.139301 
seperate points time 13.579812 
scan registration time 31.517726 ms *************
publication time 11.371628 ms 
whole laserOdometry time 11.387972 ms 
 
1317357879.746833086 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357879.850824117
prepare time 11.708495 
mapping solver time 46.585770 ms 
scan registration time 32.973169 ms *************
drop lidar frame in mapping for real time performance 
publication time 19.390128 ms 
whole laserOdometry time 19.423080 ms 
 
build tree time 34.506855 ms 
--------------------stamp1317357879.954765081
prepare time 10.375725 
sort q time 5.908095 
seperate points time 13.498484 
points size 101461 
mapping data assosiation time 50.040821 ms 
sort q time 6.547548 
seperate points time 16.112029 
scan registration time 37.535347 ms *************
publication time 9.972515 ms 
whole laserOdometry time 9.984028 ms 
 
filter time 10.209085 ms 
mapping pub time 2.429777 ms 
whole mapping time 243.060050 ms +++++
mappingCount 889 & avg mapping time 127.044224 ms ++++++++++++++++++++++
1317357879.642842054 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357880.162650108
prepare time 10.272914 
sort q time 6.699764 
seperate points time 13.240902 
scan registration time 28.984140 ms *************
publication time 11.371937 ms 
whole laserOdometry time 11.391515 ms 
 
-----t: 0.0682684
OdomCount 1138 & avg odom time 0.042884 ms ++++++++++++++++++++++
--------------------stamp1317357880.266566991
points size 100788 
sort q time 5.761357 
seperate points time 13.866192 
publication time 10.718117 ms 
whole laserOdometry time 10.735691 ms 
 
mapping data assosiation time 51.866472 ms 
-----t: 0.0632287
OdomCount 1139 & avg odom time 0.042902 ms ++++++++++++++++++++++
1317357880.266566991 WriteOdom laser_odom_to_init
1317357880.266566991 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357880.370485067
points size 98913 
mapping pub time 2.262417 ms 
whole mapping time 248.569089 ms +++++
mappingCount 890 & avg mapping time 127.180772 ms ++++++++++++++++++++++
scan registration time 32.704359 ms *************
publication time 8.407822 ms 
whole laserOdometry time 8.426160 ms 
 
build tree time 33.887392 ms 
mapping data assosiation time 40.284770 ms 
points size 97627 
sort q time 5.402208 
seperate points time 12.686641 
scan registration time 40.808821 ms *************
-----t: 0.0424202
OdomCount 1141 & avg odom time 0.042907 ms ++++++++++++++++++++++
publication time 10.654954 ms 
whole laserOdometry time 10.667726 ms 
 
--------------------stamp1317357880.578325033
points size 96300 
sort q time 5.739354 
seperate points time 12.109567 
publication time 11.562182 ms 
whole laserOdometry time 11.582329 ms 
 
mapping solver time 47.647085 ms 
mapping optimization time 242.814417 
add points time 1.036221 ms
[0m[ INFO] [1718889963.557627156, 1317357880.656969195]: Received 187722 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889963.557654409, 1317357880.656969195]: Data saved to 1317357880162650.pcd[0m
--------------------stamp1317357880.682218074
prepare time 12.384360 
sort q time 5.773658 
seperate points time 12.643226 
mapping data assosiation time 50.266196 ms 
points size 95197 
sort q time 6.417549 
seperate points time 13.031180 
publication time 12.879429 ms -----t: 0.0482281
OdomCount 1144 & avg odom time 0.042920 ms ++++++++++++++++++++++
--------------------stamp1317357880.889894962
mapping solver time 42.043791 ms 
prepare time 10.757785 
sort q time 6.002395 
seperate points time 13.311722 
map prepare time 5.241676 ms
map corner num 127986  surf num 60725 
-----t: 0.0522659
OdomCount 1145 & avg odom time 0.042928 ms ++++++++++++++++++++++
build tree time 35.647562 ms 
--------------------stamp1317357880.993665933
points size 95198 
mapping data assosiation time 45.315887 ms 
sort q time 5.792590 
seperate points time 13.749405 
publication time 11.915572 ms 
whole laserOdometry time 11.929653 ms -----t: 0.0547752
OdomCount 1146 & avg odom time 0.042938 ms ++++++++++++++++++++++
mapping solver time 66.216091 ms 
--------------------stamp1317357881.097392082
prepare time 10.915414 
sort q time 6.708354 
seperate points time 12.658285 
publication time 12.669571 ms 
whole laserOdometry time 12.685158 ms 
 
-----t: 0.0679409
OdomCount 1147 & avg odom time 0.042960 ms ++++++++++++++++++++++
mapping solver time 65.126038 ms 
points size 95623 
sort q time 5.794594 
seperate points time 12.073797 
publication time 13.451851 ms 
whole laserOdometry time 13.469922 ms 
 
-----t: 0.0593663
OdomCount 1148 & avg odom time 0.042975 ms ++++++++++++++++++++++
mapping data assosiation time 42.579187 ms 
points size 96575 
sort q time 6.362487 
seperate points time 13.923189 
publication time 10.915379 ms 
whole laserOdometry time 10.930964 ms 
 
-----t: 0.0433559
OdomCount 1149 & avg odom time 0.042975 ms ++++++++++++++++++++++
mapping data assosiation time 40.661934 ms 
points size 98068 
sort q time 5.770289 
seperate points time 12.241816 
publication time 12.027860 ms 
whole laserOdometry time 12.045609 ms 
 
filter time 10.321164 ms 
map prepare time 3.260800 ms
map corner num 129573  surf num 61384 
--------------------stamp1317357881.512152910
prepare time 12.075897 
sort q time 6.860426 
seperate points time 14.448879 
publication time 9.765697 ms 
whole laserOdometry time 9.788558 ms 
 
-----t: 0.0478577
OdomCount 1151 & avg odom time 0.042977 ms ++++++++++++++++++++++
1317357881.512152910 WriteOdom laser_odom_to_init
1317357881.512152910 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357881.615783929
prepare time 10.824002 
sort q time 5.674823 
seperate points time 12.885470 
publication time 9.532695 ms 
whole laserOdometry time 9.547400 ms 
 
mapping solver time 48.084832 ms 
points size 100187 
mapping pub time 2.127852 ms 
whole mapping time 257.821226 ms +++++
mappingCount 895 & avg mapping time 127.957927 ms ++++++++++++++++++++++
scan registration time 30.708197 ms *************
publication time 12.271048 ms 
whole laserOdometry time 12.287681 ms 
 
build tree time 35.692493 ms 
mapping data assosiation time 39.919134 ms 
points size 100197 
sort q time 5.803825 
seperate points time 14.479041 
publication time 8.524743 ms 
whole laserOdometry time 8.534924 ms 
 
mapping solver time 55.610939 ms 
-----t: 0.0557726
OdomCount 1154 & avg odom time 0.042991 ms ++++++++++++++++++++++
mapping data assosiation time 43.749902 ms 
points size 100309 
sort q time 5.638353 
seperate points time 13.648925 
publication time 11.029683 ms 
whole laserOdometry time 11.046043 ms 
 
mapping solver time 58.427107 ms 
filter time 10.256761 ms 
map prepare time 3.353545 ms
map corner num 131438  surf num 62192 
--------------------stamp1317357882.030329942
sort q time 5.818406 
seperate points time 14.093221 
mapping data assosiation time 57.848127 ms 
-----t: 0.0710997
OdomCount 1156 & avg odom time 0.043015 ms ++++++++++++++++++++++
--------------------stamp1317357882.134010076
points size 100805 
mapping solver time 57.126775 ms 
sort q time 12.532037 
seperate points time 28.495501 
publication time 12.480771 ms 
whole laserOdometry time 12.497407 ms 
 
-----t: 0.0633542
OdomCount 1157 & avg odom time 0.043033 ms ++++++++++++++++++++++
--------------------stamp1317357882.237714052
prepare time 10.856707 
sort q time 6.164011 
seperate points time 12.245768 
filter time 12.106684 ms 
map prepare time 4.094335 ms
map corner num 132458  surf num 62755 
-----t: 0.0694413
OdomCount 1158 & avg odom time 0.043056 ms ++++++++++++++++++++++
--------------------stamp1317357882.341464996
points size 101110 
sort q time 6.210849 
seperate points time 14.882688 
publication time 11.374305 ms 
whole laserOdometry time 11.386561 ms 
 
1317357882.341464996 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 59.477716 ms 
points size 101083 
sort q time 6.438339 
seperate points time 15.593130 
mapping data assosiation time 49.852566 ms 
-----t: 0.0537476
OdomCount 1160 & avg odom time 0.043084 ms ++++++++++++++++++++++
1317357882.445240974 WriteOdom laser_odom_to_init
1317357882.445240974 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 55.470256 ms 
prepare time 10.301334 
map prepare time 3.983343 ms
map corner num 133578  surf num 63402 
sort q time 6.014707 
seperate points time 14.773902 
scan registration time 31.879064 ms *************
publication time 9.456797 ms 
whole laserOdometry time 9.472098 ms 
 
build tree time 40.753874 ms 
-----t: 0.0606533
OdomCount 1161 & avg odom time 0.043099 ms ++++++++++++++++++++++
1317357882.549038887 WriteOdom laser_odom_to_init
1317357882.549038887 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357882.652834892
prepare time 10.454825 
sort q time 5.478662 
seperate points time 12.471990 
publication time 11.200843 ms 
whole laserOdometry time 11.225564 ms 
 
mapping solver time 53.929398 ms 
-----t: 0.0573072
OdomCount 1162 & avg odom time 0.043111 ms ++++++++++++++++++++++
--------------------stamp1317357882.756611108
sort q time 6.872230 
seperate points time 13.639612 
mapping optimization time 218.451023 
add points time 1.168445 ms
mapping pub time 2.500548 ms 
whole mapping time 241.351756 ms +++++
mappingCount 899 & avg mapping time 128.565569 ms ++++++++++++++++++++++
-----t: 0.0725469
OdomCount 1163 & avg odom time 0.043137 ms ++++++++++++++++++++++
build tree time 37.582329 ms 
points size 101074 
prepare time 10.315053 
sort q time 19.007414 
seperate points time 26.470919 
-----t: 0.0425474
OdomCount 1164 & avg odom time 0.043136 ms ++++++++++++++++++++++
1317357882.860410928 WriteOdom laser_odom_to_init
1317357882.860410928 WriteOdom aft_mapped_to_init_high_frec
publication time 10.402771 ms 
whole laserOdometry time 10.417118 ms 
 
mapping solver time 49.415909 ms 
--------------------stamp1317357882.964210033
points size 100982 
sort q time 5.873243 
seperate points time 13.320520 
mapping data assosiation time 46.737142 ms 
publication time 10.292398 ms 
whole laserOdometry time 10.306231 ms 
 
mapping solver time 41.343595 ms 
filter time 10.675384 ms 
map prepare time 3.471442 ms
map corner num 135877  surf num 64736 
points size 100962 
sort q time 7.036563 
seperate points time 13.439217 
publication time 10.882255 ms 
whole laserOdometry time 10.913813 ms 
 
-----t: 0.0569692
OdomCount 1166 & avg odom time 0.043154 ms ++++++++++++++++++++++
--------------------stamp1317357883.171828031
mapping solver time 38.519548 ms 
sort q time 5.720384 
seperate points time 14.010845 
publication time 9.332712 ms 
whole laserOdometry time 9.349436 ms 
 
mapping data assosiation time 49.602483 ms 
mapping solver time 34.841289 ms 
points size 100317 
sort q time 6.303482 
seperate points time 15.521416 
mapping pub time 33.429911 ms 
whole mapping time 256.722625 ms +++++
mappingCount 901 & avg mapping time 128.837671 ms ++++++++++++++++++++++
1317357882.860410929 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 4.253330 ms
map corner num 137027  surf num 65357 
publication time 10.887014 ms 
whole laserOdometry time 10.902825 ms 
 
-----t: 0.0506946
OdomCount 1168 & avg odom time 0.043162 ms ++++++++++++++++++++++
build tree time 37.627849 ms 
--------------------stamp1317357883.379475116
points size 99390 
mapping data assosiation time 47.226847 ms 
scan registration time 42.382472 ms *************
publication time 10.453053 ms 
whole laserOdometry time 10.468734 ms 
 
-----t: 0.0622112
OdomCount 1169 & avg odom time 0.043179 ms ++++++++++++++++++++++
--------------------stamp1317357883.483297109
prepare time 11.530407 
sort q time 6.003183 
seperate points time 12.419007 
publication time 10.007543 ms 
whole laserOdometry time 10.041741 ms mapping solver time 42.800459 ms 
-----t: 0.0573963
OdomCount 1170 & avg odom time 0.043191 ms ++++++++++++++++++++++
filter time 11.699014 ms 
--------------------stamp1317357883.587121009
points size 98737 
build tree time 38.394723 ms 
sort q time 6.151938 
seperate points time 39.104120 
1317357883.587121009 WriteOdom aft_mapped_to_init_high_frec
publication time 9.679894 ms 
whole laserOdometry time 9.690848 ms 
 
--------------------stamp1317357883.690968990
prepare time 11.140998 
scan registration time 30.361792 ms *************
publication time 9.425607 ms 
whole laserOdometry time 9.440390 ms 
 
mapping data assosiation time 52.453066 ms 
-----t: 0.0660829
OdomCount 1172 & avg odom time 0.043215 ms ++++++++++++++++++++++
--------------------stamp1317357883.794866085
prepare time 10.424788 
filter time 12.715589 ms 
publication time 10.009660 ms 
whole laserOdometry time 10.028081 ms 
 
build tree time 42.485849 ms 
--------------------stamp1317357883.898807048
mapping data assosiation time 43.647111 ms 
scan registration time 29.342456 ms *************
publication time 11.269692 ms 
whole laserOdometry time 11.283151 ms 
 
-----t: 0.0516731
OdomCount 1174 & avg odom time 0.043237 ms ++++++++++++++++++++++
--------------------stamp1317357884.002820968
prepare time 10.705758 
sort q time 5.357493 
seperate points time 11.917499 
mapping solver time 40.045455 ms 
filter time 16.304685 ms 
map prepare time 4.436134 ms
map corner num 140236  surf num 66930 
-----t: 0.0603573
OdomCount 1175 & avg odom time 0.043252 ms ++++++++++++++++++++++
1317357884.002820968 WriteOdom laser_odom_to_init
1317357884.002820968 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357884.106883049
points size 96340 
sort q time 5.760876 
seperate points time 13.661603 
mapping data assosiation time 49.372331 ms 
-----t: 0.0645404
OdomCount 1176 & avg odom time 0.043270 ms ++++++++++++++++++++++
--------------------stamp1317357884.210995912
prepare time 11.759590 
sort q time 11.816755 
seperate points time 18.544491 
publication time 8.297399 ms 
whole laserOdometry time 8.313836 ms 
 
--------------------stamp1317357884.315202951
prepare time 14.139037 
add points time 1.533700 ms
filter time 15.752843 ms 
mapping pub time 2.363264 ms 
whole mapping time 287.243536 ms +++++
mappingCount 905 & avg mapping time 129.408660 ms ++++++++++++++++++++++
1317357883.794866085 WriteOdom aft_mapped_to_init
-----t: 0.0559242
OdomCount 1178 & avg odom time 0.043336 ms ++++++++++++++++++++++
build tree time 35.581545 ms 
--------------------stamp1317357884.419482946
points size 97605 
prepare time 14.522625 
-----t: 0.0379853
OdomCount 1179 & avg odom time 0.043331 ms ++++++++++++++++++++++
mapping solver time 45.823793 ms 
--------------------stamp1317357884.523833036
points size 96820 
sort q time 5.883010 
seperate points time 12.435372 
publication time 8.515155 ms 
whole laserOdometry time 8.530431 ms 
 
mapping solver time 52.588942 ms 
filter time 11.476012 ms 
map prepare time 4.504899 ms
map corner num 142378  surf num 68195 
--------------------stamp1317357884.628228902
prepare time 12.146910 
sort q time 6.226801 
seperate points time 14.553414 
publication time 10.890133 ms 
whole laserOdometry time 10.921315 ms 
 
-----t: 0.0562299
OdomCount 1181 & avg odom time 0.043365 ms ++++++++++++++++++++++
1317357884.628228902 WriteOdom laser_odom_to_init
1317357884.628228902 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 57.988584 ms 
--------------------stamp1317357884.732650995
prepare time 10.566554 
scan registration time 28.514102 ms *************
mapping solver time 56.633243 ms 
mapping data assosiation time 51.038524 ms 
--------------------stamp1317357884.837099075
points size 90414 
sort q time 6.292410 
seperate points time 13.960103 
mapping solver time 59.673558 ms 
mapping optimization time 274.754425 
add points time 1.266900 ms
filter time 17.426414 ms 
map prepare time 4.588384 ms
map corner num 143500  surf num 68698 
--------------------stamp1317357884.941544055
-----t: 0.0776128
OdomCount 1183 & avg odom time 0.043473 ms ++++++++++++++++++++++
publication time 10.768394 ms 
whole laserOdometry time 10.783582 ms 
 
1317357884.941544055 WriteOdom laser_odom_to_init
1317357884.941544055 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357885.045989990
points size 85798 
sort q time 4.896738 
seperate points time 12.062757 
publication time 12.286747 ms 
whole laserOdometry time 12.303426 ms 
 
-----t: 0.0633269
OdomCount 1185 & avg odom time 0.043497 ms ++++++++++++++++++++++
1317357885.045989990 WriteOdom laser_odom_to_init
1317357885.045989990 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 50.927894 ms 
--------------------stamp1317357885.150413990
prepare time 11.305130 
sort q time 5.311223 
seperate points time 12.295859 
mapping optimization time 258.196063 
add points time 1.506730 ms
filter time 21.536283 ms 
1317357884.628228903 WriteOdom aft_mapped_to_init
publication time 19.387336 ms 
whole laserOdometry time 19.400764 ms 
 
--------------------stamp1317357885.254765033
points size 87278 
sort q time 6.364269 
seperate points time 15.058015 
publication time 8.344611 ms 
whole laserOdometry time 8.355782 ms 
 
--------------------stamp1317357885.359042882
points size 88325 
prepare time 14.448986 
sort q time 6.262037 
seperate points time 14.944853 
mapping data assosiation time 49.601126 ms 
mapping solver time 42.602240 ms 
--------------------stamp1317357885.463296890
filter time 14.805677 ms 
map prepare time 4.789381 ms
map corner num 145960  surf num 69824 
scan registration time 30.743715 ms *************
publication time 7.733347 ms 
whole laserOdometry time 7.748333 ms 
 
build tree time 39.418754 ms 
mapping data assosiation time 38.973965 ms 
points size 90589 
prepare time 12.385987 
sort q time 4.927107 
seperate points time 11.773530 
scan registration time 29.278498 ms *************
mapping solver time 51.238414 ms 
mapping data assosiation time 41.330765 ms 
--------------------stamp1317357885.671641111
points size 94593 
sort q time 5.241546 
seperate points time 12.386725 
mapping optimization time 225.997344 
-----t: 0.0326071
OdomCount 1191 & avg odom time 0.043564 ms ++++++++++++++++++++++
publication time 7.988974 ms 
whole laserOdometry time 8.000707 ms 
 
map prepare time 4.195795 ms
map corner num 147129  surf num 70318 
build tree time 33.364554 ms 
--------------------stamp1317357885.775752067
prepare time 11.209856 
sort q time 5.832882 
seperate points time 13.436256 
publication time 11.422603 ms 
whole laserOdometry time 11.441636 ms 
 
-----t: 0.0709476
OdomCount 1192 & avg odom time 0.043587 ms ++++++++++++++++++++++
--------------------stamp1317357885.879837989
points size 99282 
sort q time 6.759494 
seperate points time 14.045338 
publication time 10.089901 ms 
whole laserOdometry time 10.106736 ms 
 
mapping solver time 41.514582 ms 
filter time 12.632089 ms 
--------------------stamp1317357885.983899116
prepare time 11.501659 
sort q time 5.692151 
seperate points time 12.803822 
publication time 13.464922 ms 
whole laserOdometry time 13.483572 ms 
 
mapping data assosiation time 48.097047 ms 
--------------------stamp1317357886.087964057
points size 101321 
mapping solver time 47.400064 ms 
publication time 11.787854 ms 
whole laserOdometry time 11.800241 ms 
 
1317357886.087964057 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 50.156075 ms 
--------------------stamp1317357886.192003965
mapping solver time 38.568220 ms 
sort q time 7.643950 
seperate points time 14.414238 
publication time 10.356861 ms 
whole laserOdometry time 10.369757 ms 
 
-----t: 0.0578858
OdomCount 1196 & avg odom time 0.043591 ms ++++++++++++++++++++++
1317357886.192003965 WriteOdom laser_odom_to_init
1317357886.192003965 WriteOdom aft_mapped_to_init_high_frec
build tree time 40.560827 ms 
--------------------stamp1317357886.296015977
prepare time 12.338416 
mapping data assosiation time 45.103724 ms 
publication time 15.031424 ms 
whole laserOdometry time 15.043544 ms 
 
-----t: 0.0629731
OdomCount 1197 & avg odom time 0.043608 ms ++++++++++++++++++++++
--------------------stamp1317357886.400031089
points size 103813 
mapping data assosiation time 49.849638 ms 
sort q time 13.415230 
seperate points time 23.195277 
scan registration time 58.324383 ms *************
publication time 13.766418 ms 
whole laserOdometry time 13.782049 ms 
 
mapping solver time 49.901664 ms 
filter time 16.855098 ms 
-----t: 0.0950547
OdomCount 1198 & avg odom time 0.043651 ms ++++++++++++++++++++++
1317357886.400031089 WriteOdom laser_odom_to_init
1317357886.400031089 WriteOdom aft_mapped_to_init_high_frec
points size 103646 
sort q time 6.165983 
seperate points time 14.959450 
publication time 12.598958 ms 
whole laserOdometry time 12.616636 ms 
 
-----t: 0.052269
OdomCount 1199 & avg odom time 0.043658 ms ++++++++++++++++++++++
1317357886.503998994 WriteOdom laser_odom_to_init
1317357886.503998994 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357886.607916116
prepare time 12.971209 
sort q time 18.673317 
seperate points time 27.279516 
scan registration time 47.178654 ms *************
publication time 9.090159 ms 
whole laserOdometry time 9.103540 ms 
 
mapping data assosiation time 47.387123 ms 
points size 103834 
sort q time 6.042756 
seperate points time 13.594038 
publication time 11.458261 ms 
whole laserOdometry time 11.474260 ms 
 
1317357886.711836099 WriteOdom aft_mapped_to_init_high_frec
filter time 12.168487 ms 
map prepare time 3.773274 ms
map corner num 152201  surf num 73094 
--------------------stamp1317357886.815754890
build tree time 41.052397 ms 
scan registration time 35.336674 ms *************
publication time 9.886198 ms 
whole laserOdometry time 9.900257 ms 
 
mapping data assosiation time 50.240053 ms 
--------------------stamp1317357886.919671058
points size 104133 
prepare time 11.232916 
sort q time 5.933642 
seperate points time 14.091041 
publication time 12.057356 ms 
whole laserOdometry time 12.074633 ms 
 
-----t: 0.0698381
OdomCount 1203 & avg odom time 0.043676 ms ++++++++++++++++++++++
mapping solver time 41.572594 ms 
points size 103841 
mapping pub time 2.440142 ms 
whole mapping time 256.068795 ms +++++
mappingCount 915 & avg mapping time 130.889819 ms ++++++++++++++++++++++
scan registration time 30.924013 ms *************
publication time 11.044649 ms 
whole laserOdometry time 11.061824 ms 
 
build tree time 39.549532 ms 
--------------------stamp1317357887.127460956
sort q time 5.746241 
seperate points time 14.274201 
-----t: 0.0378059
OdomCount 1205 & avg odom time 0.043666 ms ++++++++++++++++++++++
1317357887.127460956 WriteOdom laser_odom_to_init
1317357887.127460956 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 54.319895 ms 
mapping data assosiation time 41.944124 ms 
points size 103681 
sort q time 6.498955 
seperate points time 12.626207 
scan registration time 30.661104 ms *************
mapping optimization time 224.628421 
filter time 14.591035 ms 
map prepare time 3.924197 ms
map corner num 154712  surf num 74373 
--------------------stamp1317357887.335375070
prepare time 11.709256 
sort q time 6.751885 
seperate points time 13.169445 
publication time 9.184859 ms 
whole laserOdometry time 9.195442 ms 
 
-----t: 0.0577716
OdomCount 1207 & avg odom time 0.043681 ms ++++++++++++++++++++++
--------------------stamp1317357887.439341068
prepare time 11.381006 
sort q time 5.257425 
seperate points time 11.894471 
publication time 9.643738 ms 
whole laserOdometry time 9.656985 ms 
 
-----t: 0.0516167
OdomCount 1208 & avg odom time 0.043688 ms ++++++++++++++++++++++
mapping solver time 41.966498 ms 
points size 104163 
map prepare time 4.936841 ms
map corner num 163972  surf num 82521 
scan registration time 31.828610 ms *************
publication time 11.691444 ms 
whole laserOdometry time 11.709095 ms 
 
build tree time 47.275878 ms 
--------------------stamp1317357887.647226095
points size 104407 
sort q time 6.644978 
seperate points time 13.868243 
publication time 9.748817 ms 
whole laserOdometry time 9.761266 ms 
 
-----t: 0.0415147
OdomCount 1210 & avg odom time 0.043686 ms ++++++++++++++++++++++
--------------------stamp1317357887.751193046
points size 104526 
sort q time 8.259562 
seperate points time 17.005729 
publication time 10.154128 ms 
whole laserOdometry time 10.168913 ms 
 
mapping solver time 57.012908 ms 
filter time 13.062034 ms 
map prepare time 3.931445 ms
map corner num 165242  surf num 83271 
--------------------stamp1317357887.855159997
points size 104718 
build tree time 42.594344 ms 
publication time 10.037066 ms 
whole laserOdometry time 10.051346 ms 
 
mapping data assosiation time 47.884784 ms 
--------------------stamp1317357887.959101915
points size 103885 
sort q time 6.356565 
seperate points time 13.904975 
publication time 9.567014 ms 
whole laserOdometry time 9.581078 ms 
 
-----t: 0.0403629
OdomCount 1213 & avg odom time 0.043681 ms ++++++++++++++++++++++
1317357887.959101915 WriteOdom laser_odom_to_init
1317357887.959101915 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.435146 ms 
--------------------stamp1317357888.063044071
points size 103477 
map prepare time 4.909741 ms
map corner num 127782  surf num 66463 
scan registration time 31.081171 ms *************
publication time 9.517393 ms 
whole laserOdometry time 9.529538 ms 
 
build tree time 36.862345 ms 
mapping data assosiation time 38.041427 ms 
--------------------stamp1317357888.167035102
points size 103420 
sort q time 6.793016 
seperate points time 18.735189 
-----t: 0.0378929
OdomCount 1215 & avg odom time 0.043676 ms ++++++++++++++++++++++
publication time 8.375670 ms 
whole laserOdometry time 8.387787 ms 
 
mapping data assosiation time 42.121526 ms 
--------------------stamp1317357888.271050930
points size 103372 
add points time 1.315853 ms
filter time 16.129336 ms 
mapping pub time 2.481129 ms 
whole mapping time 230.330862 ms +++++
mappingCount 920 & avg mapping time 131.539851 ms ++++++++++++++++++++++
1317357887.855159998 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 37.501001 ms 
-----t: 0.0865561
OdomCount 1216 & avg odom time 0.043711 ms ++++++++++++++++++++++
points size 103282 
mapping data assosiation time 45.744875 ms 
publication time 8.103829 ms 
whole laserOdometry time 8.115743 ms 
 
-----t: 0.0525129
OdomCount 1217 & avg odom time 0.043718 ms ++++++++++++++++++++++
--------------------stamp1317357888.479054927
mapping data assosiation time 38.981788 ms 
sort q time 5.374235 
seperate points time 12.067965 
mapping solver time 41.491076 ms 
filter time 13.344542 ms 
mapping pub time 31.302282 ms 
whole mapping time 267.620016 ms +++++
mappingCount 921 & avg mapping time 131.687607 ms ++++++++++++++++++++++
points size 103017 
sort q time 15.293161 
seperate points time 23.399656 
build tree time 35.625918 ms 
scan registration time 41.724251 ms *************
-----t: 0.0398508
OdomCount 1219 & avg odom time 0.043712 ms ++++++++++++++++++++++
1317357888.583043098 WriteOdom laser_odom_to_init
1317357888.583043098 WriteOdom aft_mapped_to_init_high_frec
publication time 9.984877 ms 
whole laserOdometry time 10.009641 ms 
 
mapping data assosiation time 42.771778 ms 
--------------------stamp1317357888.687035083
points size 102793 
prepare time 13.870322 
mapping solver time 45.902538 ms 
scan registration time 33.975787 ms *************
publication time 10.337436 ms 
whole laserOdometry time 10.351772 ms 
 
mapping data assosiation time 45.439039 ms 
mapping solver time 25.481951 ms 
points size 102209 
drop lidar frame in mapping for real time performance 
map prepare time 4.478856 ms
map corner num 131242  surf num 68176 
sort q time 7.497055 
seperate points time 16.650839 
publication time 9.921712 ms 
whole laserOdometry time 9.936855 ms 
 
-----t: 0.0566708
OdomCount 1221 & avg odom time 0.043726 ms ++++++++++++++++++++++
mapping data assosiation time 38.621235 ms 
points size 101655 
sort q time 6.062004 
seperate points time 14.064887 
publication time 13.427215 ms 
whole laserOdometry time 13.440652 ms 
 
mapping data assosiation time 39.396739 ms 
--------------------stamp1317357888.998984098
prepare time 10.025226 
sort q time 5.855977 
seperate points time 13.500941 
drop lidar frame in mapping for real time performance 
publication time 10.259984 ms 
whole laserOdometry time 10.273712 ms 
 
build tree time 35.579301 ms 
--------------------stamp1317357889.102927923
prepare time 11.017390 
sort q time 6.191693 
seperate points time 14.167567 
publication time 9.634671 ms 
whole laserOdometry time 9.647178 ms 
 
mapping solver time 48.590354 ms 
mapping solver time 46.902586 ms 
mapping pub time 2.248001 ms 
whole mapping time 233.981041 ms +++++
mappingCount 924 & avg mapping time 131.996777 ms ++++++++++++++++++++++
build tree time 28.307507 ms 
points size 100543 
prepare time 11.110060 
sort q time 7.063704 
seperate points time 14.205604 
scan registration time 29.937448 ms *************
publication time 9.363141 ms 
whole laserOdometry time 9.380876 ms 
 
-----t: 0.0502423
OdomCount 1226 & avg odom time 0.043739 ms ++++++++++++++++++++++
mapping solver time 44.701642 ms 
--------------------stamp1317357889.414753913
prepare time 10.182457 
sort q time 5.891257 
seperate points time 12.620263 
publication time 7.746833 ms 
whole laserOdometry time 7.759146 ms 
 
mapping solver time 45.161878 ms 
filter time 11.904820 ms 
mapping pub time 2.344950 ms 
whole mapping time 217.476102 ms +++++
mappingCount 925 & avg mapping time 132.089191 ms ++++++++++++++++++++++
1317357888.998984098 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357889.518697977
prepare time 10.769917 
build tree time 33.523882 ms 
-----t: 0.0385125
OdomCount 1228 & avg odom time 0.043731 ms ++++++++++++++++++++++
mapping solver time 38.583947 ms 
--------------------stamp1317357889.622591972
prepare time 11.296963 
sort q time 5.429907 
seperate points time 12.753824 
publication time 10.271559 ms 
whole laserOdometry time 10.289414 ms 
 
mapping solver time 41.924360 ms 
filter time 12.785221 ms 
map prepare time 3.430109 ms
map corner num 135755  surf num 70244 
prepare time 13.255104 
sort q time 5.425421 
seperate points time 13.017232 
publication time 9.122198 ms 
whole laserOdometry time 9.165914 ms 
 
-----t: 0.0434806
OdomCount 1230 & avg odom time 0.043726 ms ++++++++++++++++++++++
mapping data assosiation time 40.993739 ms 
--------------------stamp1317357889.830384016
points size 94045 
mapping solver time 45.052810 ms 
mapping data assosiation time 41.567135 ms 
mapping solver time 30.722847 ms 
--------------------stamp1317357889.934252977
points size 92152 
sort q time 5.269825 
seperate points time 12.929163 
publication time 9.629633 ms 
whole laserOdometry time 9.643287 ms 
 
build tree time 38.343947 ms 
mapping data assosiation time 34.466668 ms 
--------------------stamp1317357890.038099050
points size 92284 
prepare time 12.426708 
mapping solver time 40.573046 ms 
publication time 11.650409 ms 
whole laserOdometry time 11.664834 ms 
 
-----t: 0.0741206
OdomCount 1233 & avg odom time 0.043749 ms ++++++++++++++++++++++
1317357890.038099050 WriteOdom laser_odom_to_init
1317357890.038099050 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.171100 ms 
points size 93338 
prepare time 18.706069 
scan registration time 38.103147 ms *************
publication time 12.476071 ms 
whole laserOdometry time 12.491192 ms 
 
-----t: 0.0503093
OdomCount 1234 & avg odom time 0.043755 ms ++++++++++++++++++++++
1317357890.141896963 WriteOdom laser_odom_to_init
build tree time 44.590371 ms 
mapping data assosiation time 39.524503 ms 
sort q time 5.650434 
seperate points time 12.323503 
publication time 10.519752 ms 
whole laserOdometry time 10.532595 ms 
 
-----t: 0.0562336
OdomCount 1235 & avg odom time 0.043765 ms ++++++++++++++++++++++
mapping data assosiation time 39.884005 ms 
points size 94763 
prepare time 10.564385 
scan registration time 28.360498 ms *************
mapping pub time 2.006450 ms 
whole mapping time 221.882660 ms +++++
mappingCount 929 & avg mapping time 132.475710 ms ++++++++++++++++++++++
-----t: 0.0385464
OdomCount 1236 & avg odom time 0.043761 ms ++++++++++++++++++++++
build tree time 33.645513 ms 
--------------------stamp1317357890.453223943
prepare time 11.484717 
sort q time 6.029292 
seperate points time 12.593410 
scan registration time 29.012805 ms *************
publication time 7.611631 ms 
whole laserOdometry time 7.633537 ms 
 
mapping solver time 45.136709 ms 
mapping data assosiation time 34.267941 ms 
points size 96742 
sort q time 5.822035 
seperate points time 12.785760 
filter time 14.753616 ms 
map prepare time 3.660744 ms
map corner num 140425  surf num 72271 
build tree time 31.274496 ms 
--------------------stamp1317357890.660722970
prepare time 9.402122 
mapping data assosiation time 35.818718 ms 
scan registration time 27.995410 ms *************
publication time 9.628353 ms 
whole laserOdometry time 9.643940 ms 
 
-----t: 0.0371263
OdomCount 1239 & avg odom time 0.043751 ms ++++++++++++++++++++++
mapping solver time 43.629227 ms 
mapping data assosiation time 34.622969 ms 
points size 99717 
sort q time 5.699667 
seperate points time 12.196135 
scan registration time 27.674934 ms *************
publication time 11.090014 ms 
whole laserOdometry time 11.110207 ms 
 
filter time 15.431918 ms 
build tree time 36.914723 ms 
points size 101109 
sort q time 6.732608 
seperate points time 16.638222 
publication time 10.406094 ms 
whole laserOdometry time 10.419596 ms 
 
-----t: 0.0477715
OdomCount 1241 & avg odom time 0.043750 ms ++++++++++++++++++++++
1317357890.868199110 WriteOdom laser_odom_to_init
mapping solver time 35.291615 ms 
--------------------stamp1317357890.971927881
points size 102137 
sort q time 6.032908 
seperate points time 12.926822 
publication time 10.615553 ms 
whole laserOdometry time 10.631191 ms 
 
1317357890.660722971 WriteOdom aft_mapped_to_init
-----t: 0.0413827
OdomCount 1242 & avg odom time 0.043749 ms ++++++++++++++++++++++
1317357890.971927881 WriteOdom laser_odom_to_init
1317357890.971927881 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.402670 ms
map corner num 142916  surf num 73472 
build tree time 32.768563 ms 
--------------------stamp1317357891.075654029
prepare time 12.575014 
sort q time 5.499318 
seperate points time 13.274692 
publication time 10.843874 ms 
whole laserOdometry time 10.858918 ms 
 
-----t: 0.05071
OdomCount 1243 & avg odom time 0.043754 ms ++++++++++++++++++++++
mapping solver time 45.491173 ms 
--------------------stamp1317357891.179404973
mapping data assosiation time 37.874958 ms 
sort q time 6.434583 
seperate points time 12.835533 
mapping solver time 35.787759 ms 
publication time 10.817609 ms 
whole laserOdometry time 10.831876 ms 
 
filter time 14.223902 ms 
mapping pub time 2.237921 ms 
whole mapping time 217.838255 ms +++++
mappingCount 933 & avg mapping time 132.814085 ms ++++++++++++++++++++++
1317357890.868199110 WriteOdom aft_mapped_to_init
-----t: 0.0621358
OdomCount 1244 & avg odom time 0.043769 ms ++++++++++++++++++++++
1317357891.179404973 WriteOdom laser_odom_to_init
1317357891.179404973 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357891.283157110
points size 97774 
sort q time 6.418493 
seperate points time 15.919860 
-----t: 0.044746
OdomCount 1245 & avg odom time 0.043770 ms ++++++++++++++++++++++
mapping solver time 38.401495 ms 
--------------------stamp1317357891.386909961
prepare time 10.455375 
sort q time 6.090426 
seperate points time 12.300908 
scan registration time 26.725205 ms *************
mapping data assosiation time 43.353276 ms 
add points time 0.984041 ms
-----t: 0.0533308
OdomCount 1246 & avg odom time 0.043777 ms ++++++++++++++++++++++
1317357891.386909961 WriteOdom laser_odom_to_init
1317357891.386909961 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.290446 ms 
whole mapping time 223.666237 ms +++++
mappingCount 934 & avg mapping time 132.911361 ms ++++++++++++++++++++++
--------------------stamp1317357891.490660905
prepare time 10.106010 
sort q time 5.525824 
seperate points time 13.055619 
publication time 9.734459 ms 
whole laserOdometry time 9.745165 ms 
 
mapping data assosiation time 39.261694 ms 
--------------------stamp1317357891.594388961
sort q time 5.670482 
seperate points time 11.790785 
publication time 9.651800 ms 
whole laserOdometry time 9.667733 ms 
 
mapping data assosiation time 42.908223 ms 
-----t: 0.0390099
OdomCount 1248 & avg odom time 0.043770 ms ++++++++++++++++++++++
1317357891.594388961 WriteOdom laser_odom_to_init
1317357891.594388961 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.992959 ms 
mapping optimization time 201.855487 
add points time 0.882045 ms
filter time 11.296987 ms 
map prepare time 4.422996 ms
map corner num 146857  surf num 75434 
sort q time 5.513126 
seperate points time 11.997560 
build tree time 38.353442 ms 
mapping data assosiation time 37.635332 ms 
--------------------stamp1317357891.801909923
prepare time 9.621032 
mapping solver time 32.481917 ms 
publication time 10.052890 ms 
whole laserOdometry time 10.066805 ms 
 
mapping solver time 32.511443 ms 
mapping optimization time 186.543762 
add points time 0.980489 ms
filter time 11.051014 ms 
drop lidar frame in mapping for real time performance 
sort q time 5.400300 
seperate points time 11.845493 
scan registration time 29.267543 ms *************
publication time 10.210163 ms 
whole laserOdometry time 10.224600 ms 
 
build tree time 46.703915 ms 
mapping data assosiation time 36.594410 ms 
--------------------stamp1317357892.009462118
points size 93109 
prepare time 11.679830 
scan registration time 29.053317 ms *************
publication time 10.138898 ms 
whole laserOdometry time 10.153241 ms 
 
-----t: 0.0487755
OdomCount 1252 & avg odom time 0.043764 ms ++++++++++++++++++++++
mapping solver time 25.794883 ms 
points size 93526 
map prepare time 4.101662 ms
map corner num 149432  surf num 76478 
sort q time 5.283467 
seperate points time 14.039112 
publication time 10.127200 ms 
whole laserOdometry time 10.144468 ms 
 
build tree time 42.178235 ms 
-----t: 0.0581318
OdomCount 1253 & avg odom time 0.043775 ms ++++++++++++++++++++++
1317357892.113236904 WriteOdom laser_odom_to_init
--------------------stamp1317357892.217036008
prepare time 11.125659 
sort q time 5.330395 
seperate points time 18.408822 
scan registration time 36.417182 ms *************
publication time 12.075640 ms 
whole laserOdometry time 12.089647 ms 
 
-----t: 0.0592883
OdomCount 1254 & avg odom time 0.043787 ms ++++++++++++++++++++++
mapping data assosiation time 39.898002 ms 
--------------------stamp1317357892.320858001
prepare time 12.211791 
sort q time 5.222410 
seperate points time 13.052949 
publication time 10.545394 ms 
whole laserOdometry time 10.560415 ms 
 
-----t: 0.0524806
OdomCount 1255 & avg odom time 0.043794 ms ++++++++++++++++++++++
--------------------stamp1317357892.424679040
prepare time 16.898219 
sort q time 5.914705 
seperate points time 12.586410 
mapping solver time 39.849062 ms 
-----t: 0.0595766
OdomCount 1256 & avg odom time 0.043807 ms ++++++++++++++++++++++
mapping data assosiation time 39.907603 ms 
--------------------stamp1317357892.528505086
prepare time 11.319185 
sort q time 5.384624 
seperate points time 13.276679 
mapping solver time 40.237418 ms 
filter time 13.662315 ms 
build tree time 34.053362 ms 
--------------------stamp1317357892.632328033
sort q time 5.502160 
seperate points time 13.249508 
publication time 8.588883 ms 
whole laserOdometry time 8.607329 ms 
 
-----t: 0.0366749
OdomCount 1258 & avg odom time 0.043798 ms ++++++++++++++++++++++
mapping solver time 37.850688 ms 
mapping data assosiation time 33.514739 ms 
points size 96538 
sort q time 5.503510 
seperate points time 13.295414 
filter time 11.752493 ms 
map prepare time 3.935995 ms
map corner num 153048  surf num 77984 
build tree time 33.868858 ms 
--------------------stamp1317357892.839976072
points size 96304 
sort q time 5.700598 
seperate points time 13.358447 
publication time 9.752070 ms 
whole laserOdometry time 9.765807 ms 
 
mapping solver time 37.340301 ms 
mapping data assosiation time 33.563772 ms 
points size 95874 
mapping solver time 27.865704 ms 
filter time 13.798520 ms 
publication time 24.455432 ms 
whole laserOdometry time 24.476987 ms 
 
-----t: 0.0652868
OdomCount 1261 & avg odom time 0.043804 ms ++++++++++++++++++++++
--------------------stamp1317357893.047616958
prepare time 11.860709 
sort q time 5.028570 
seperate points time 12.143855 
publication time 10.804256 ms 
whole laserOdometry time 10.815978 ms 
 
-----t: 0.0563155
OdomCount 1262 & avg odom time 0.043814 ms ++++++++++++++++++++++
mapping solver time 34.947444 ms 
--------------------stamp1317357893.151413917
points size 95630 
sort q time 5.448770 
seperate points time 13.512777 
scan registration time 31.287876 ms *************
mapping data assosiation time 41.762509 ms 
publication time 9.847093 ms 
whole laserOdometry time 9.862004 ms 
 
mapping optimization time 192.478784 
filter time 12.087331 ms 
map prepare time 3.543413 ms
map corner num 155461  surf num 79106 
--------------------stamp1317357893.255213022
points size 96144 
build tree time 40.663078 ms 
sort q time 5.568188 
seperate points time 13.864020 
scan registration time 32.184879 ms *************
publication time 9.449091 ms 
whole laserOdometry time 9.461706 ms 
 
mapping data assosiation time 41.887261 ms 
-----t: 0.0603359
OdomCount 1264 & avg odom time 0.043830 ms ++++++++++++++++++++++
mapping solver time 33.356426 ms 
points size 95653 
prepare time 12.337258 
sort q time 5.436493 
seperate points time 13.532890 
mapping data assosiation time 40.987184 ms 
publication time 11.215897 ms 
whole laserOdometry time 11.229284 ms 
 
-----t: 0.0517038
OdomCount 1265 & avg odom time 0.043836 ms ++++++++++++++++++++++
mapping optimization time 187.180083 
filter time 11.622193 ms 
mapping pub time 2.196492 ms 
whole mapping time 205.606095 ms +++++
mappingCount 943 & avg mapping time 133.699099 ms ++++++++++++++++++++++
1317357893.047616959 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357893.462810039
scan registration time 37.128373 ms *************
-----t: 0.0401436
OdomCount 1266 & avg odom time 0.043833 ms ++++++++++++++++++++++
1317357893.462810039 WriteOdom laser_odom_to_init
1317357893.462810039 WriteOdom aft_mapped_to_init_high_frec
publication time 9.035593 ms 
whole laserOdometry time 9.047788 ms 
 
mapping data assosiation time 39.862981 ms 
mapping solver time 30.971756 ms 
points size 93126 
sort q time 5.233140 
seperate points time 12.264882 
mapping data assosiation time 40.289480 ms 
-----t: 0.0398463
OdomCount 1267 & avg odom time 0.043830 ms ++++++++++++++++++++++
mapping solver time 27.582034 ms 
filter time 13.278395 ms 
mapping pub time 2.208630 ms 
whole mapping time 206.701498 ms +++++
mappingCount 944 & avg mapping time 133.776437 ms ++++++++++++++++++++++
1317357893.255213022 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357893.670502901
points size 92531 
build tree time 24.793509 ms 
sort q time 5.184710 
seperate points time 12.722128 
publication time 7.596990 ms 
whole laserOdometry time 7.604958 ms 
 
mapping data assosiation time 40.548502 ms 
1317357893.670502901 WriteOdom laser_odom_to_init
1317357893.670502901 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.891741 ms 
--------------------stamp1317357893.774324893
points size 92406 
sort q time 5.326565 
seperate points time 12.458390 
mapping solver time 25.489232 ms 
-----t: 0.0337395
OdomCount 1269 & avg odom time 0.043820 ms ++++++++++++++++++++++
map prepare time 3.891884 ms
map corner num 86838  surf num 48267 
build tree time 22.654851 ms 
--------------------stamp1317357893.878149986
points size 92264 
sort q time 5.050937 
seperate points time 12.197794 
mapping solver time 32.153777 ms 
-----t: 0.0524815
OdomCount 1270 & avg odom time 0.043827 ms ++++++++++++++++++++++
mapping data assosiation time 36.573470 ms 
--------------------stamp1317357893.981972932
filter time 7.932133 ms 
map prepare time 2.792789 ms
map corner num 87932  surf num 48712 
scan registration time 39.937271 ms *************
publication time 12.387290 ms 
whole laserOdometry time 12.406095 ms 
 
mapping data assosiation time 35.461872 ms 
--------------------stamp1317357894.085793972
points size 90579 
mapping solver time 39.614330 ms 
scan registration time 30.400422 ms *************
publication time 11.541644 ms 
whole laserOdometry time 11.561509 ms 
 
-----t: 0.0479633
OdomCount 1272 & avg odom time 0.043838 ms ++++++++++++++++++++++
1317357894.085793972 WriteOdom laser_odom_to_init
1317357894.085793972 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.542582 ms 
filter time 7.433485 ms 
points size 92554 
build tree time 27.210245 ms 
publication time 9.841033 ms 
whole laserOdometry time 9.872277 ms 
 
-----t: 0.0461677
OdomCount 1273 & avg odom time 0.043840 ms ++++++++++++++++++++++
1317357894.189618110 WriteOdom laser_odom_to_init
1317357894.189618110 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.849988 ms 
--------------------stamp1317357894.293417930
points size 92387 
mapping data assosiation time 35.522828 ms 
mapping solver time 28.645449 ms 
mapping optimization time 155.809015 
map prepare time 3.243006 ms
map corner num 89984  surf num 49696 
-----t: 0.0644713
OdomCount 1274 & avg odom time 0.043856 ms ++++++++++++++++++++++
build tree time 22.616161 ms 
points size 92819 
sort q time 5.024150 
seperate points time 12.653329 
publication time 9.966100 ms 
whole laserOdometry time 9.976812 ms 
 
mapping solver time 41.717684 ms 
--------------------stamp1317357894.501039028
points size 93517 
sort q time 6.046786 
seperate points time 15.547548 
mapping solver time 35.651177 ms 
-----t: 0.048404
OdomCount 1276 & avg odom time 0.043869 ms ++++++++++++++++++++++
build tree time 20.562807 ms 
--------------------stamp1317357894.604836940
prepare time 10.803450 
mapping data assosiation time 33.707179 ms 
publication time 7.757257 ms 
whole laserOdometry time 7.770924 ms 
 
-----t: 0.036118
OdomCount 1277 & avg odom time 0.043863 ms ++++++++++++++++++++++
mapping data assosiation time 27.153191 ms 
--------------------stamp1317357894.708621978
points size 95826 
map prepare time 3.148462 ms
map corner num 89703  surf num 48522 
scan registration time 32.110649 ms *************
publication time 9.406924 ms 
whole laserOdometry time 9.421022 ms 
 
-----t: 0.0391875
OdomCount 1278 & avg odom time 0.043859 ms ++++++++++++++++++++++
mapping data assosiation time 34.211325 ms 
--------------------stamp1317357894.812375068
prepare time 10.532629 
sort q time 7.684408 
seperate points time 15.766181 
mapping data assosiation time 36.211419 ms 
publication time 10.928998 ms 
whole laserOdometry time 10.943935 ms 
 
mapping solver time 33.686529 ms 
filter time 7.640339 ms 
map prepare time 2.964456 ms
map corner num 90825  surf num 49100 
points size 99920 
sort q time 5.725046 
seperate points time 12.887577 
publication time 8.550182 ms 
whole laserOdometry time 8.561677 ms 
 
-----t: 0.0576194
OdomCount 1280 & avg odom time 0.043888 ms ++++++++++++++++++++++
mapping solver time 32.148079 ms 
--------------------stamp1317357895.019936084
points size 98749 
sort q time 5.809562 
seperate points time 14.317308 
mapping solver time 26.152931 ms 
filter time 8.103566 ms 
-----t: 0.0576033
OdomCount 1281 & avg odom time 0.043899 ms ++++++++++++++++++++++
build tree time 24.574100 ms 
--------------------stamp1317357895.123711109
points size 98392 
mapping data assosiation time 36.520409 ms 
sort q time 5.973042 
seperate points time 17.469845 
-----t: 0.0437033
OdomCount 1282 & avg odom time 0.043898 ms ++++++++++++++++++++++
mapping data assosiation time 32.334231 ms 
points size 98591 
prepare time 12.670062 
sort q time 5.465100 
seperate points time 13.570576 
filter time 8.513918 ms 
-----t: 0.0474104
OdomCount 1283 & avg odom time 0.043901 ms ++++++++++++++++++++++
build tree time 25.870133 ms 
--------------------stamp1317357895.331235885
points size 98717 
sort q time 7.015524 
seperate points time 14.319933 
mapping solver time 32.682062 ms 
publication time 10.267229 ms 
whole laserOdometry time 10.286439 ms 
 
mapping data assosiation time 31.939738 ms 
--------------------stamp1317357895.434986114
prepare time 10.696267 
map prepare time 3.862302 ms
map corner num 94002  surf num 50882 
publication time 8.288878 ms 
whole laserOdometry time 8.307459 ms 
 
-----t: 0.0389678
OdomCount 1285 & avg odom time 0.043896 ms ++++++++++++++++++++++
mapping data assosiation time 32.414083 ms 
--------------------stamp1317357895.538737058
mapping solver time 30.214899 ms 
points size 99250 
prepare time 12.664185 
scan registration time 31.580259 ms *************
publication time 9.112325 ms 
whole laserOdometry time 9.127917 ms 
 
-----t: 0.0417368
OdomCount 1286 & avg odom time 0.043894 ms ++++++++++++++++++++++
mapping solver time 31.153030 ms 
mapping optimization time 160.429508 
add points time 0.878330 ms
drop lidar frame in mapping for real time performance 
points size 96891 
build tree time 26.396819 ms 
sort q time 6.247659 
seperate points time 13.388151 
publication time 9.239510 ms 
whole laserOdometry time 9.274051 ms 
 
mapping data assosiation time 36.143927 ms 
-----t: 0.0442019
OdomCount 1287 & avg odom time 0.043894 ms ++++++++++++++++++++++
1317357895.642465114 WriteOdom laser_odom_to_init
1317357895.642465114 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.021677 ms 
--------------------stamp1317357895.746190071
prepare time 11.859242 
mapping data assosiation time 35.730852 ms 
mapping solver time 24.627780 ms 
mapping optimization time 154.382059 
add points time 0.979631 ms
drop lidar frame in mapping for real time performance 
1317357895.746190071 WriteOdom laser_odom_to_init
build tree time 30.428631 ms 
sort q time 8.038366 
seperate points time 15.376234 
publication time 9.513409 ms 
whole laserOdometry time 9.529946 ms 
 
-----t: 0.0462716
OdomCount 1289 & avg odom time 0.043902 ms ++++++++++++++++++++++
mapping solver time 38.576977 ms 
--------------------stamp1317357895.953716039
prepare time 10.181225 
sort q time 6.293237 
seperate points time 13.004963 
publication time 9.581451 ms 
whole laserOdometry time 9.598306 ms 
 
-----t: 0.0482126
OdomCount 1290 & avg odom time 0.043906 ms ++++++++++++++++++++++
map prepare time 4.055538 ms
map corner num 97356  surf num 52543 
build tree time 29.560703 ms 
points size 94032 
prepare time 12.106946 
scan registration time 31.133284 ms *************
mapping data assosiation time 43.126958 ms 
publication time 11.088715 ms 
whole laserOdometry time 11.105551 ms 
 
-----t: 0.0572717
OdomCount 1291 & avg odom time 0.043916 ms ++++++++++++++++++++++
1317357896.057490110 WriteOdom laser_odom_to_init
1317357896.057490110 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357896.161289930
points size 94890 
sort q time 5.960391 
seperate points time 12.915277 
mapping solver time 35.953949 ms 
publication time 9.199421 ms 
whole laserOdometry time 9.207690 ms 
 
mapping optimization time 185.113870 
filter time 10.469072 ms 
build tree time 21.261423 ms 
--------------------stamp1317357896.265089035
mapping data assosiation time 32.575341 ms 
publication time 9.816350 ms 
whole laserOdometry time 9.840412 ms 
 
mapping solver time 34.284248 ms 
-----t: 0.0420243
OdomCount 1293 & avg odom time 0.043918 ms ++++++++++++++++++++++
1317357896.265089035 WriteOdom laser_odom_to_init
1317357896.265089035 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.780809 ms 
--------------------stamp1317357896.368865013
prepare time 11.121209 
sort q time 5.604136 
seperate points time 12.778941 
map prepare time 3.981471 ms
map corner num 99768  surf num 53666 
publication time 10.615939 ms 
whole laserOdometry time 10.631440 ms 
 
build tree time 25.700581 ms 
mapping data assosiation time 33.238175 ms 
points size 99806 
sort q time 5.519365 
seperate points time 11.712570 
mapping solver time 38.660867 ms 
publication time 9.475140 ms 
whole laserOdometry time 9.491307 ms 
 
-----t: 0.054918
OdomCount 1295 & avg odom time 0.043921 ms ++++++++++++++++++++++
mapping solver time 28.726659 ms 
points size 99985 
sort q time 5.826255 
seperate points time 13.450169 
build tree time 29.366109 ms 
-----t: 0.0536764
OdomCount 1296 & avg odom time 0.043928 ms ++++++++++++++++++++++
mapping data assosiation time 34.892381 ms 
--------------------stamp1317357896.680237054
points size 99679 
prepare time 9.949119 
mapping solver time 31.454660 ms 
sort q time 6.500337 
seperate points time 12.921112 
publication time 9.440782 ms 
whole laserOdometry time 9.455206 ms 
 
-----t: 0.0454669
OdomCount 1297 & avg odom time 0.043930 ms ++++++++++++++++++++++
mapping solver time 24.392404 ms 
filter time 7.673623 ms 
--------------------stamp1317357896.784012079
prepare time 13.640617 
sort q time 12.786036 
seperate points time 20.263048 
build tree time 29.767533 ms 
publication time 9.154519 ms 
whole laserOdometry time 9.180469 ms 
 
1317357896.784012079 WriteOdom laser_odom_to_init
1317357896.784012079 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.273521 ms 
--------------------stamp1317357896.887763977
prepare time 10.579398 
sort q time 5.905972 
seperate points time 13.373066 
publication time 12.833689 ms 
whole laserOdometry time 12.846970 ms 
 
1317357896.887763977 WriteOdom laser_odom_to_init
mapping solver time 24.745543 ms 
mapping optimization time 166.632036 
add points time 0.764284 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357896.991489887
prepare time 12.015998 
build tree time 30.242137 ms 
publication time 8.790260 ms 
whole laserOdometry time 8.807829 ms 
 
mapping data assosiation time 36.915312 ms 
-----t: 0.063106
OdomCount 1300 & avg odom time 0.043953 ms ++++++++++++++++++++++
mapping solver time 30.898317 ms 
--------------------stamp1317357897.095187902
mapping data assosiation time 38.059977 ms 
publication time 10.835193 ms 
whole laserOdometry time 10.865491 ms 
 
filter time 7.987331 ms 
map prepare time 3.060406 ms
map corner num 104165  surf num 55743 
--------------------stamp1317357897.198892116
prepare time 12.510256 
sort q time 5.332345 
seperate points time 12.522584 
publication time 10.599783 ms 
whole laserOdometry time 10.613059 ms 
 
mapping solver time 30.621846 ms 
--------------------stamp1317357897.302623033
prepare time 11.262951 
sort q time 5.873996 
seperate points time 13.317978 
publication time 12.228427 ms 
whole laserOdometry time 12.327748 ms 
 
filter time 8.288007 ms 
map prepare time 3.589085 ms
map corner num 105254  surf num 56321 
build tree time 23.968454 ms 
points size 101010 
prepare time 12.427648 
sort q time 5.602162 
seperate points time 13.999210 
publication time 8.427020 ms 
whole laserOdometry time 8.442160 ms 
 
-----t: 0.0463373
OdomCount 1304 & avg odom time 0.043947 ms ++++++++++++++++++++++
1317357897.406375885 WriteOdom laser_odom_to_init
1317357897.406375885 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357897.510148048
points size 100967 
sort q time 6.644399 
seperate points time 13.416649 
filter time 11.083358 ms 
-----t: 0.0566526
OdomCount 1305 & avg odom time 0.043957 ms ++++++++++++++++++++++
--------------------stamp1317357897.613919973
points size 101074 
sort q time 5.938689 
seperate points time 13.026696 
publication time 11.525241 ms 
whole laserOdometry time 11.538767 ms 
 
mapping solver time 65.161659 ms 
--------------------stamp1317357897.717698097
points size 101431 
sort q time 5.835268 
seperate points time 13.184413 
publication time 10.799942 ms 
whole laserOdometry time 10.816279 ms 
 
1317357897.717698097 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889980.685469637, 1317357897.781376630]: Received 165282 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889980.685522547, 1317357897.781376630]: Data saved to 1317357897406375.pcd[0m
build tree time 25.077527 ms 
points size 101642 
sort q time 5.556049 
seperate points time 13.712921 
mapping data assosiation time 42.114937 ms 
publication time 13.415321 ms 
whole laserOdometry time 13.490506 ms 
 
mapping solver time 38.710774 ms 
--------------------stamp1317357897.925245046
points size 102302 
sort q time 5.991465 
seperate points time 13.202222 
mapping solver time 26.031912 ms 
filter time 12.267437 ms 
-----t: 0.0446557
OdomCount 1309 & avg odom time 0.043954 ms ++++++++++++++++++++++
1317357897.925245046 WriteOdom laser_odom_to_init
1317357897.925245046 WriteOdom aft_mapped_to_init_high_frec
build tree time 28.831285 ms 
--------------------stamp1317357898.029020071
points size 100280 
mapping data assosiation time 42.620171 ms 
publication time 9.596471 ms 
whole laserOdometry time 9.610313 ms 
 
-----t: 0.0462782
OdomCount 1310 & avg odom time 0.043955 ms ++++++++++++++++++++++
--------------------stamp1317357898.132795095
mapping data assosiation time 37.821829 ms 
sort q time 5.557600 
seperate points time 12.859883 
publication time 8.712037 ms 
whole laserOdometry time 8.722943 ms 
 
filter time 11.761785 ms 
-----t: 0.0835253
OdomCount 1311 & avg odom time 0.043986 ms ++++++++++++++++++++++
points size 99055 
sort q time 6.210061 
seperate points time 14.850727 
-----t: 0.0441824
OdomCount 1312 & avg odom time 0.043986 ms ++++++++++++++++++++++
mapping solver time 39.035667 ms 
--------------------stamp1317357898.340394973
points size 97981 
sort q time 6.597899 
seperate points time 17.884891 
publication time 9.419006 ms 
whole laserOdometry time 9.434029 ms 
 
filter time 8.878861 ms 
map prepare time 3.128339 ms
map corner num 111168  surf num 59820 
build tree time 30.202743 ms 
points size 97268 
sort q time 6.215219 
seperate points time 12.314594 
mapping data assosiation time 38.129826 ms 
publication time 13.229210 ms 
whole laserOdometry time 13.254860 ms 
-----t: 0.0496945
OdomCount 1314 & avg odom time 0.043991 ms ++++++++++++++++++++++
mapping solver time 41.276409 ms 
--------------------stamp1317357898.547940969
mapping data assosiation time 34.592090 ms 
sort q time 5.065052 
seperate points time 11.950905 
mapping solver time 27.089550 ms 
filter time 9.114103 ms 
mapping pub time 2.215794 ms 
whole mapping time 189.486923 ms +++++
mappingCount 970 & avg mapping time 135.216690 ms ++++++++++++++++++++++
1317357898.236596107 WriteOdom aft_mapped_to_init
publication time 9.524363 ms 
whole laserOdometry time 9.541058 ms 
 
map prepare time 3.926862 ms
map corner num 112291  surf num 60409 
build tree time 28.348712 ms 
--------------------stamp1317357898.651741027
mapping data assosiation time 36.746237 ms 
publication time 8.977557 ms 
whole laserOdometry time 8.991381 ms 
 
mapping solver time 43.813496 ms 
mapping data assosiation time 32.632071 ms 
points size 97993 
mapping solver time 25.153677 ms 
scan registration time 28.707553 ms *************
drop lidar frame in mapping for real time performance 
publication time 9.755775 ms 
whole laserOdometry time 9.770317 ms 
 
--------------------stamp1317357898.859339952
prepare time 12.132354 
sort q time 6.009911 
seperate points time 13.421124 
mapping solver time 39.943205 ms 
publication time 9.360415 ms 
whole laserOdometry time 9.371631 ms 
 
mapping data assosiation time 41.543303 ms 
--------------------stamp1317357898.963160991
prepare time 9.987904 
filter time 7.645511 ms 
publication time 9.257518 ms 
whole laserOdometry time 9.271701 ms 
 
1317357898.963160991 WriteOdom laser_odom_to_init
1317357898.963160991 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 43.114923 ms 
--------------------stamp1317357899.066958904
prepare time 10.063350 
sort q time 6.049439 
seperate points time 13.301104 
publication time 8.611106 ms 
whole laserOdometry time 8.624727 ms 
 
mapping data assosiation time 42.337789 ms 
-----t: 0.0810979
OdomCount 1320 & avg odom time 0.044037 ms ++++++++++++++++++++++
points size 96687 
mapping solver time 39.418008 ms 
scan registration time 30.568437 ms *************
build tree time 19.488748 ms 
-----t: 0.0547154
OdomCount 1321 & avg odom time 0.044045 ms ++++++++++++++++++++++
mapping data assosiation time 35.178102 ms 
--------------------stamp1317357899.274557113
points size 96455 
mapping solver time 37.117711 ms 
publication time 7.833636 ms 
whole laserOdometry time 7.847766 ms 
 
mapping data assosiation time 42.291147 ms 
-----t: 0.0618435
OdomCount 1322 & avg odom time 0.044059 ms ++++++++++++++++++++++
mapping solver time 23.532289 ms 
filter time 5.971525 ms 
points size 96139 
build tree time 16.576491 ms 
sort q time 6.624067 
seperate points time 12.657994 
publication time 10.082842 ms 
whole laserOdometry time 10.096438 ms 
 
-----t: 0.0502206
OdomCount 1323 & avg odom time 0.044064 ms ++++++++++++++++++++++
1317357899.378356933 WriteOdom laser_odom_to_init
1317357899.378356933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.558752 ms 
points size 96947 
prepare time 10.219993 
scan registration time 27.471306 ms *************
publication time 9.204328 ms 
whole laserOdometry time 9.219027 ms 
 
mapping solver time 35.619018 ms 
filter time 7.449017 ms 
map prepare time 3.826966 ms
map corner num 66673  surf num 36826 
--------------------stamp1317357899.586023092
sort q time 5.330885 
seperate points time 12.322593 
mapping data assosiation time 42.668065 ms 
mapping solver time 40.950713 ms 
--------------------stamp1317357899.689870119
points size 93994 
mapping data assosiation time 37.316717 ms 
scan registration time 30.133569 ms *************
publication time 9.426829 ms 
whole laserOdometry time 9.445376 ms 
 
mapping solver time 38.865070 ms 
mapping optimization time 179.001484 
add points time 0.919913 ms
map prepare time 3.560732 ms
map corner num 67804  surf num 37381 
build tree time 17.771668 ms 
points size 92442 
sort q time 5.428228 
seperate points time 11.130691 
mapping data assosiation time 38.822692 ms 
publication time 11.274304 ms 
whole laserOdometry time 11.288070 ms 
 
-----t: 0.0456908
OdomCount 1327 & avg odom time 0.044073 ms ++++++++++++++++++++++
mapping solver time 38.717836 ms 
--------------------stamp1317357899.897492885
prepare time 11.310762 
sort q time 9.710670 
seperate points time 23.669733 
filter time 11.189220 ms 
map prepare time 3.868668 ms
map corner num 68972  surf num 37917 
build tree time 20.773586 ms 
--------------------stamp1317357900.001292943
points size 91057 
mapping data assosiation time 40.232567 ms 
publication time 8.666390 ms 
whole laserOdometry time 8.682780 ms 
 
mapping solver time 43.442590 ms 
mapping data assosiation time 34.717879 ms 
sort q time 5.385273 
seperate points time 10.700729 
mapping solver time 34.380038 ms 
filter time 8.447247 ms 
mapping pub time 2.112475 ms 
whole mapping time 191.911379 ms +++++
mappingCount 978 & avg mapping time 135.673476 ms ++++++++++++++++++++++
1317357899.793694019 WriteOdom aft_mapped_to_init
build tree time 18.144102 ms 
--------------------stamp1317357900.208961963
sort q time 5.392706 
seperate points time 11.604541 
publication time 8.806420 ms 
whole laserOdometry time 8.821583 ms 
 
-----t: 0.0430092
OdomCount 1331 & avg odom time 0.044080 ms ++++++++++++++++++++++
1317357900.208961963 WriteOdom laser_odom_to_init
1317357900.208961963 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.361908 ms 
--------------------stamp1317357900.312809944
prepare time 11.435677 
sort q time 5.282347 
seperate points time 11.663183 
filter time 8.542351 ms 
mapping pub time 2.588951 ms 
whole mapping time 187.866715 ms +++++
mappingCount 979 & avg mapping time 135.726806 ms ++++++++++++++++++++++
1317357900.001292944 WriteOdom aft_mapped_to_init
scan registration time 29.043905 ms *************
publication time 8.830787 ms 
whole laserOdometry time 8.846937 ms -----t: 0.047023
OdomCount 1332 & avg odom time 0.044082 ms ++++++++++++++++++++++
mapping data assosiation time 35.029827 ms 
--------------------stamp1317357900.416632890
prepare time 9.726080 
sort q time 6.152495 
seperate points time 13.168318 
publication time 8.764802 ms 
whole laserOdometry time 8.779508 ms 
 
-----t: 0.0582865
OdomCount 1333 & avg odom time 0.044093 ms ++++++++++++++++++++++
1317357900.416632890 WriteOdom laser_odom_to_init
1317357900.416632890 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.965248 ms 
--------------------stamp1317357900.520454883
prepare time 10.589728 
map prepare time 3.620353 ms
map corner num 72374  surf num 39556 
build tree time 18.290752 ms 
-----t: 0.0397671
OdomCount 1334 & avg odom time 0.044090 ms ++++++++++++++++++++++
mapping data assosiation time 38.491206 ms 
--------------------stamp1317357900.624253988
mapping solver time 35.558004 ms 
sort q time 5.834685 
seperate points time 12.769511 
publication time 7.440031 ms 
whole laserOdometry time 7.454851 ms 
 
mapping data assosiation time 43.119592 ms 
mapping solver time 25.217965 ms 
filter time 6.190750 ms 
--------------------stamp1317357900.728053092
points size 97558 
map prepare time 3.861410 ms
map corner num 73298  surf num 39909 
scan registration time 33.607924 ms *************
build tree time 22.575641 ms 
-----t: 0.0596655
OdomCount 1336 & avg odom time 0.044098 ms ++++++++++++++++++++++
--------------------stamp1317357900.831851959
prepare time 12.423122 
sort q time 5.545578 
seperate points time 13.911444 
publication time 10.523475 ms 
whole laserOdometry time 10.537342 ms 
 
-----t: 0.0454982
OdomCount 1337 & avg odom time 0.044099 ms ++++++++++++++++++++++
--------------------stamp1317357900.935676097
points size 98959 
filter time 9.236179 ms 
scan registration time 37.102358 ms *************
build tree time 20.357800 ms 
publication time 18.665063 ms 
whole laserOdometry time 18.677500 ms 
 
mapping data assosiation time 38.623334 ms 
--------------------stamp1317357901.039521932
points size 99641 
prepare time 11.961294 
scan registration time 31.385445 ms *************
publication time 13.416426 ms 
whole laserOdometry time 13.434002 ms 
 
mapping data assosiation time 37.613137 ms 
--------------------stamp1317357901.143343925
mapping optimization time 184.993795 
filter time 9.491154 ms 
build tree time 20.850294 ms 
mapping data assosiation time 36.177475 ms 
--------------------stamp1317357901.247191905
points size 100767 
prepare time 13.562754 
sort q time 5.714188 
seperate points time 14.093952 
-----t: 0.0367662
OdomCount 1341 & avg odom time 0.044094 ms ++++++++++++++++++++++
1317357901.247191905 WriteOdom laser_odom_to_init
1317357901.247191905 WriteOdom aft_mapped_to_init_high_frec
publication time 10.428671 ms 
whole laserOdometry time 10.437472 ms 
 
mapping data assosiation time 37.575746 ms 
--------------------stamp1317357901.351037025
points size 101906 
filter time 9.441690 ms 
map prepare time 3.883610 ms
map corner num 76649  surf num 41547 
sort q time 6.425060 
seperate points time 14.329457 
build tree time 21.966286 ms 
publication time 9.643558 ms 
whole laserOdometry time 9.658394 ms 
 
-----t: 0.0494134
OdomCount 1342 & avg odom time 0.044098 ms ++++++++++++++++++++++
mapping data assosiation time 40.297002 ms 
--------------------stamp1317357901.454883098
prepare time 10.647828 
mapping solver time 39.904176 ms 
publication time 10.723259 ms 
whole laserOdometry time 10.739468 ms 
 
mapping data assosiation time 44.025729 ms 
-----t: 0.0609054
OdomCount 1343 & avg odom time 0.044110 ms ++++++++++++++++++++++
mapping solver time 26.694260 ms 
mapping pub time 2.356437 ms 
whole mapping time 190.626646 ms +++++
mappingCount 985 & avg mapping time 136.124132 ms ++++++++++++++++++++++
sort q time 6.401476 
seperate points time 13.868545 
publication time 10.057413 ms 
whole laserOdometry time 10.072095 ms 
 
-----t: 0.0469446
OdomCount 1344 & avg odom time 0.044112 ms ++++++++++++++++++++++
mapping data assosiation time 43.154730 ms 
--------------------stamp1317357901.662673950
prepare time 10.991665 
sort q time 5.994608 
seperate points time 12.927364 
publication time 9.389801 ms 
whole laserOdometry time 9.406613 ms 
 
-----t: 0.0430466
OdomCount 1345 & avg odom time 0.044111 ms ++++++++++++++++++++++
mapping solver time 36.710993 ms 
filter time 8.569191 ms 
map prepare time 4.125264 ms
map corner num 79038  surf num 42778 
build tree time 18.794759 ms 
scan registration time 34.640872 ms *************
publication time 12.569533 ms 
whole laserOdometry time 12.582764 ms 
 
mapping data assosiation time 47.315017 ms 
--------------------stamp1317357901.870460987
points size 99428 
sort q time 5.761313 
seperate points time 14.292880 
publication time 9.178563 ms 
whole laserOdometry time 9.209626 ms 
 
mapping solver time 26.697847 ms 
mapping pub time 2.293164 ms 
whole mapping time 201.742810 ms +++++
mappingCount 987 & avg mapping time 136.252204 ms ++++++++++++++++++++++
points size 99271 
sort q time 6.066921 
seperate points time 12.623353 
publication time 13.261079 ms 
whole laserOdometry time 13.280338 ms 
 
-----t: 0.0475344
OdomCount 1348 & avg odom time 0.044118 ms ++++++++++++++++++++++
1317357901.974354982 WriteOdom laser_odom_to_init
1317357901.974354982 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 55.290570 ms 
--------------------stamp1317357902.078274011
points size 99406 
sort q time 5.698673 
seperate points time 14.244638 
publication time 11.006684 ms 
whole laserOdometry time 11.065082 ms 
 
-----t: 0.046993
OdomCount 1349 & avg odom time 0.044120 ms ++++++++++++++++++++++
mapping solver time 35.467554 ms 
--------------------stamp1317357902.182169914
points size 99590 
sort q time 5.836015 
seperate points time 13.793727 
publication time 10.414597 ms 
whole laserOdometry time 10.429916 ms 
 
mapping data assosiation time 41.310215 ms 
--------------------stamp1317357902.286065101
points size 99836 
sort q time 5.783927 
seperate points time 13.300600 
scan registration time 30.110766 ms *************
mapping data assosiation time 44.893967 ms 
publication time 19.611957 ms 
whole laserOdometry time 19.632002 ms 
 
add points time 0.881274 ms
filter time 7.761826 ms 
-----t: 0.0848392
OdomCount 1351 & avg odom time 0.044147 ms ++++++++++++++++++++++
prepare time 10.507674 
sort q time 6.168805 
seperate points time 13.832030 
publication time 17.929256 ms 
whole laserOdometry time 17.943925 ms 
 
-----t: 0.0613354
OdomCount 1352 & avg odom time 0.044160 ms ++++++++++++++++++++++
1317357902.389983892 WriteOdom laser_odom_to_init
1317357902.389983892 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357902.493902921
prepare time 11.057269 
sort q time 5.476130 
seperate points time 12.366636 
scan registration time 36.131336 ms *************
mapping data assosiation time 46.235919 ms 
mapping solver time 20.300227 ms 
filter time 6.900474 ms 
map prepare time 3.146461 ms
map corner num 78378  surf num 41708 
--------------------stamp1317357902.597820997
prepare time 11.547774 
sort q time 6.131168 
seperate points time 14.032534 
mapping data assosiation time 43.862673 ms 
-----t: 0.0405189
OdomCount 1354 & avg odom time 0.044169 ms ++++++++++++++++++++++
mapping solver time 38.095217 ms 
--------------------stamp1317357902.701765060
mapping data assosiation time 42.871621 ms 
publication time 10.294362 ms 
whole laserOdometry time 10.310156 ms 
 
-----t: 0.0404397
OdomCount 1355 & avg odom time 0.044166 ms ++++++++++++++++++++++
1317357902.701765060 WriteOdom laser_odom_to_init
1317357902.701765060 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.109711 ms 
mapping optimization time 178.540196 
add points time 0.832528 ms
mapping pub time 3.665094 ms 
whole mapping time 193.464165 ms +++++
mappingCount 991 & avg mapping time 136.500438 ms ++++++++++++++++++++++
build tree time 17.791111 ms 
--------------------stamp1317357902.805706024
points size 101453 
sort q time 5.808934 
seperate points time 14.648570 
publication time 11.364393 ms 
whole laserOdometry time 11.378749 ms 
 
-----t: 0.0537284
OdomCount 1356 & avg odom time 0.044173 ms ++++++++++++++++++++++
1317357902.805706024 WriteOdom laser_odom_to_init
1317357902.805706024 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 48.741056 ms 
--------------------stamp1317357902.909626007
prepare time 12.812953 
mapping data assosiation time 43.993607 ms 
publication time 8.723255 ms 
whole laserOdometry time 8.738690 ms 
 
mapping solver time 42.022381 ms 
-----t: 0.0505918
OdomCount 1357 & avg odom time 0.044178 ms ++++++++++++++++++++++
mapping pub time 2.261231 ms 
whole mapping time 217.058590 ms +++++
mappingCount 992 & avg mapping time 136.581648 ms ++++++++++++++++++++++
--------------------stamp1317357903.013546943
points size 101603 
prepare time 17.296268 
scan registration time 35.578668 ms *************
mapping data assosiation time 48.141809 ms 
-----t: 0.0451101
OdomCount 1358 & avg odom time 0.044179 ms ++++++++++++++++++++++
mapping solver time 45.723313 ms 
points size 101571 
sort q time 6.798589 
seperate points time 16.284395 
mapping data assosiation time 47.065610 ms 
-----t: 0.043624
OdomCount 1359 & avg odom time 0.044178 ms ++++++++++++++++++++++
1317357903.117464065 WriteOdom laser_odom_to_init
1317357903.117464065 WriteOdom aft_mapped_to_init_high_frec
publication time 10.205574 ms 
whole laserOdometry time 10.219413 ms 
 
add points time 0.904642 ms
filter time 7.107971 ms 
map prepare time 3.316179 ms
map corner num 82011  surf num 43405 
--------------------stamp1317357903.221383094
build tree time 22.452949 ms 
sort q time 6.909502 
seperate points time 16.887530 
mapping data assosiation time 47.163145 ms 
-----t: 0.0435415
OdomCount 1360 & avg odom time 0.044178 ms ++++++++++++++++++++++
1317357903.221383094 WriteOdom laser_odom_to_init
1317357903.221383094 WriteOdom aft_mapped_to_init_high_frec
publication time 11.208626 ms 
whole laserOdometry time 11.221730 ms 
 
mapping solver time 35.480920 ms 
--------------------stamp1317357903.325300931
points size 100493 
sort q time 6.897789 
seperate points time 16.926237 
publication time 7.870850 ms 
whole laserOdometry time 7.886387 ms 
 
-----t: 0.0397722
OdomCount 1361 & avg odom time 0.044175 ms ++++++++++++++++++++++
mapping solver time 40.994746 ms 
filter time 7.006264 ms 
map prepare time 3.200311 ms
map corner num 83261  surf num 44000 
--------------------stamp1317357903.429219007
points size 100334 
sort q time 6.772069 
seperate points time 16.539615 
publication time 11.881146 ms 
whole laserOdometry time 11.897842 ms 
 
-----t: 0.049909
OdomCount 1362 & avg odom time 0.044179 ms ++++++++++++++++++++++
mapping solver time 41.965760 ms 
points size 100143 
sort q time 6.606895 
seperate points time 12.955396 
mapping data assosiation time 42.577629 ms 
publication time 10.723624 ms 
whole laserOdometry time 10.734114 ms 
 
-----t: 0.0531431
OdomCount 1363 & avg odom time 0.044185 ms ++++++++++++++++++++++
mapping solver time 38.809714 ms 
filter time 8.379713 ms 
map prepare time 4.112799 ms
map corner num 84460  surf num 44552 
points size 99988 
build tree time 25.574228 ms 
sort q time 5.849936 
seperate points time 13.345112 
publication time 11.108442 ms 
whole laserOdometry time 11.122951 ms 
 
1317357903.637032032 WriteOdom laser_odom_to_init
1317357903.637032032 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357903.740904092
prepare time 11.117173 
sort q time 5.264727 
seperate points time 12.169395 
scan registration time 29.254828 ms *************
publication time 9.202930 ms 
whole laserOdometry time 9.220668 ms 
 
mapping data assosiation time 42.798284 ms 
publication time 15.809976 ms 
whole laserOdometry time 15.823102 ms 
 
-----t: 0.0552581
OdomCount 1366 & avg odom time 0.044198 ms ++++++++++++++++++++++
mapping solver time 31.870217 ms 
points size 100544 
prepare time 32.448346 
scan registration time 51.299816 ms *************
-----t: 0.0538389
OdomCount 1367 & avg odom time 0.044205 ms ++++++++++++++++++++++
mapping solver time 34.906117 ms 
mapping pub time 2.323345 ms 
whole mapping time 204.609345 ms +++++
mappingCount 997 & avg mapping time 136.940964 ms ++++++++++++++++++++++
points size 99810 
build tree time 24.463027 ms 
scan registration time 38.096764 ms *************
publication time 9.307184 ms 
whole laserOdometry time 9.323422 ms 
 
mapping data assosiation time 41.936609 ms 
--------------------stamp1317357904.156266927
prepare time 11.176905 
sort q time 5.860922 
seperate points time 12.375874 
mapping data assosiation time 41.524431 ms 
mapping solver time 36.620471 ms 
mapping pub time 2.417507 ms 
whole mapping time 201.269664 ms +++++
mappingCount 998 & avg mapping time 137.005431 ms ++++++++++++++++++++++
1317357903.844774961 WriteOdom aft_mapped_to_init
points size 99288 
build tree time 25.115219 ms 
publication time 9.335581 ms 
whole laserOdometry time 9.350763 ms 
 
mapping solver time 30.739157 ms 
--------------------stamp1317357904.363941907
prepare time 11.107692 
sort q time 6.215507 
seperate points time 13.505679 
publication time 9.324626 ms 
whole laserOdometry time 9.341769 ms 
 
filter time 6.972786 ms 
mapping pub time 2.364513 ms 
whole mapping time 175.147015 ms +++++
mappingCount 999 & avg mapping time 137.043615 ms ++++++++++++++++++++++
1317357904.052443981 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 22.465564 ms 
--------------------stamp1317357904.467781066
prepare time 11.848000 
sort q time 6.062603 
seperate points time 12.888978 
mapping data assosiation time 36.406031 ms 
publication time 9.266832 ms 
whole laserOdometry time 9.280583 ms 
 
mapping solver time 37.055127 ms 
mapping data assosiation time 32.306535 ms 
points size 99666 
mapping optimization time 159.893922 
scan registration time 33.972765 ms *************
publication time 10.142199 ms 
whole laserOdometry time 10.172536 ms 
 
build tree time 25.699857 ms 
-----t: 0.064203
OdomCount 1373 & avg odom time 0.044240 ms ++++++++++++++++++++++
--------------------stamp1317357904.675427913
points size 100370 
prepare time 14.315825 
sort q time 5.935457 
seperate points time 14.294073 
-----t: 0.0458762
OdomCount 1374 & avg odom time 0.044241 ms ++++++++++++++++++++++
mapping data assosiation time 40.202570 ms 
--------------------stamp1317357904.779249906
add points time 0.813402 ms
points size 101131 
prepare time 12.778201 
sort q time 5.691423 
seperate points time 15.066037 
mapping pub time 34.021221 ms 
whole mapping time 220.014526 ms +++++
mappingCount 1001 & avg mapping time 137.166239 ms ++++++++++++++++++++++
-----t: 0.0592889
OdomCount 1375 & avg odom time 0.044252 ms ++++++++++++++++++++++
--------------------stamp1317357904.883050918
points size 101165 
prepare time 10.838925 
publication time 15.050388 ms 
whole laserOdometry time 15.061031 ms 
 
-----t: 0.0458746
OdomCount 1376 & avg odom time 0.044253 ms ++++++++++++++++++++++
mapping data assosiation time 32.482161 ms 
--------------------stamp1317357904.986824989
points size 99802 
mapping solver time 31.634193 ms 
mapping optimization time 167.375919 
add points time 0.799605 ms
sort q time 6.555719 
seperate points time 13.283713 
scan registration time 30.410858 ms *************
publication time 9.413190 ms 
whole laserOdometry time 9.424994 ms 
 
build tree time 17.956789 ms 
-----t: 0.0483487
OdomCount 1377 & avg odom time 0.044256 ms ++++++++++++++++++++++
1317357904.986824989 WriteOdom laser_odom_to_init
1317357904.986824989 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.603512 ms 
--------------------stamp1317357905.090599060
points size 99498 
mapping solver time 33.600605 ms 
publication time 9.259653 ms 
whole laserOdometry time 9.289891 ms 
 
mapping data assosiation time 35.616496 ms 
-----t: 0.0436184
OdomCount 1378 & avg odom time 0.044256 ms ++++++++++++++++++++++
1317357905.090599060 WriteOdom laser_odom_to_init
1317357905.090599060 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 147.986544 
add points time 0.960088 ms
points size 99217 
prepare time 13.814354 
build tree time 18.946384 ms 
sort q time 15.934975 
seperate points time 24.579865 
mapping data assosiation time 35.689751 ms 
publication time 8.518903 ms 
whole laserOdometry time 8.537203 ms 
 
-----t: 0.0563662
OdomCount 1379 & avg odom time 0.044265 ms ++++++++++++++++++++++
1317357905.194374084 WriteOdom laser_odom_to_init
1317357905.194374084 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.746321 ms 
--------------------stamp1317357905.298124074
mapping data assosiation time 31.368788 ms 
scan registration time 28.330443 ms *************
publication time 9.300816 ms 
whole laserOdometry time 9.316814 ms 
 
filter time 5.451046 ms 
-----t: 0.0600866
OdomCount 1380 & avg odom time 0.044276 ms ++++++++++++++++++++++
build tree time 19.036833 ms 
--------------------stamp1317357905.401876926
mapping data assosiation time 28.514027 ms 
sort q time 5.558867 
seperate points time 13.637489 
mapping solver time 38.835192 ms 
-----t: 0.0502416
OdomCount 1381 & avg odom time 0.044281 ms ++++++++++++++++++++++
mapping data assosiation time 32.207357 ms 
--------------------stamp1317357905.505655050
prepare time 10.679305 
filter time 6.114415 ms 
mapping pub time 2.247717 ms 
whole mapping time 162.351773 ms +++++
mappingCount 1005 & avg mapping time 137.295219 ms ++++++++++++++++++++++
1317357905.194374084 WriteOdom aft_mapped_to_init
sort q time 7.260127 
seperate points time 13.824861 
build tree time 19.634931 ms 
publication time 8.757696 ms 
whole laserOdometry time 8.777860 ms 
 
-----t: 0.0514462
OdomCount 1382 & avg odom time 0.044286 ms ++++++++++++++++++++++
mapping data assosiation time 32.828936 ms 
--------------------stamp1317357905.609405994
points size 100996 
prepare time 10.829438 
sort q time 5.484182 
seperate points time 12.953294 
publication time 8.423131 ms 
whole laserOdometry time 8.433340 ms 
 
-----t: 0.0387973
OdomCount 1383 & avg odom time 0.044282 ms ++++++++++++++++++++++
1317357905.609405994 WriteOdom laser_odom_to_init
1317357905.609405994 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.476928 ms 
filter time 5.535578 ms 
map prepare time 2.717005 ms
map corner num 69013  surf num 35835 
build tree time 18.275317 ms 
points size 101895 
sort q time 6.043548 
seperate points time 14.149214 
publication time 9.946078 ms 
whole laserOdometry time 9.958945 ms 
 
mapping solver time 30.156264 ms 
mapping data assosiation time 27.481135 ms 
--------------------stamp1317357905.816854000
prepare time 12.023608 
filter time 8.107836 ms 
mapping pub time 3.303269 ms 
whole mapping time 146.352034 ms +++++
mappingCount 1007 & avg mapping time 137.326074 ms ++++++++++++++++++++++
1317357905.505655050 WriteOdom aft_mapped_to_init
build tree time 18.180390 ms 
-----t: 0.0489194
OdomCount 1385 & avg odom time 0.044284 ms ++++++++++++++++++++++
mapping data assosiation time 34.052442 ms 
--------------------stamp1317357905.920603036
prepare time 12.406850 
sort q time 5.865942 
seperate points time 14.000803 
mapping data assosiation time 33.924504 ms 
publication time 11.777040 ms 
whole laserOdometry time 11.793594 ms 
 
mapping solver time 32.469623 ms 
filter time 5.791791 ms 
map prepare time 2.883492 ms
map corner num 71092  surf num 36972 
--------------------stamp1317357906.024357080
points size 102711 
sort q time 6.587292 
seperate points time 13.112241 
mapping data assosiation time 36.755408 ms 
-----t: 0.0412227
OdomCount 1387 & avg odom time 0.044295 ms ++++++++++++++++++++++
1317357906.024357080 WriteOdom laser_odom_to_init
1317357906.024357080 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.855497 ms 
prepare time 10.920661 
sort q time 5.870174 
seperate points time 13.946251 
map prepare time 3.713470 ms
map corner num 72060  surf num 37450 
publication time 10.232172 ms 
whole laserOdometry time 10.267087 ms 
 
mapping data assosiation time 29.700023 ms 
--------------------stamp1317357906.231883049
points size 103338 
sort q time 6.598672 
seperate points time 14.225192 
scan registration time 31.000592 ms *************
mapping data assosiation time 35.048381 ms 
-----t: 0.043307
OdomCount 1389 & avg odom time 0.044291 ms ++++++++++++++++++++++
mapping solver time 22.023500 ms 
filter time 6.356716 ms 
map prepare time 2.963543 ms
map corner num 73187  surf num 37954 
--------------------stamp1317357906.335658073
prepare time 10.955898 
sort q time 5.754996 
seperate points time 13.060493 
mapping data assosiation time 35.268916 ms 
publication time 10.293136 ms 
whole laserOdometry time 10.307979 ms 
 
-----t: 0.0441845
OdomCount 1390 & avg odom time 0.044291 ms ++++++++++++++++++++++
mapping solver time 36.715615 ms 
--------------------stamp1317357906.439434051
prepare time 11.922972 
sort q time 5.826661 
seperate points time 12.366983 
filter time 6.846427 ms 
build tree time 16.358765 ms 
mapping data assosiation time 33.486589 ms 
points size 103309 
sort q time 5.812652 
seperate points time 14.195656 
publication time 11.493525 ms 
whole laserOdometry time 11.505146 ms 
 
-----t: 0.044951
OdomCount 1392 & avg odom time 0.044302 ms ++++++++++++++++++++++
mapping data assosiation time 31.774771 ms 
--------------------stamp1317357906.646981000
filter time 6.027762 ms 
map prepare time 3.982523 ms
map corner num 75289  surf num 38997 
sort q time 5.968232 
seperate points time 14.744116 
build tree time 21.057587 ms 
publication time 11.052399 ms 
whole laserOdometry time 11.066789 ms 
 
mapping data assosiation time 34.599521 ms 
--------------------stamp1317357906.750757932
prepare time 12.629423 
sort q time 6.589228 
seperate points time 13.989046 
mapping data assosiation time 38.952511 ms 
publication time 9.824010 ms 
whole laserOdometry time 9.836897 ms 
 
mapping solver time 25.267011 ms 
mapping optimization time 152.339087 
add points time 0.818039 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357906.854557037
points size 103008 
sort q time 5.920922 
seperate points time 13.998912 
mapping data assosiation time 36.195365 ms 
-----t: 0.0435169
OdomCount 1395 & avg odom time 0.044304 ms ++++++++++++++++++++++
mapping solver time 30.542931 ms 
--------------------stamp1317357906.958378076
prepare time 11.726338 
sort q time 7.244779 
seperate points time 16.998482 
mapping optimization time 161.912474 
filter time 9.461253 ms 
publication time 26.452682 ms 
whole laserOdometry time 26.478066 ms 
 
build tree time 18.988945 ms 
--------------------stamp1317357907.062197923
points size 101160 
sort q time 5.984491 
seperate points time 14.033624 
mapping solver time 35.993479 ms 
mapping data assosiation time 34.237018 ms 
--------------------stamp1317357907.165997028
mapping solver time 24.819535 ms 
prepare time 10.976904 
mapping optimization time 154.459288 
add points time 0.746227 ms
filter time 23.260155 ms 
build tree time 19.284309 ms 
mapping data assosiation time 31.187255 ms 
--------------------stamp1317357907.269797086
points size 99525 
mapping solver time 35.956537 ms 
publication time 11.871389 ms 
whole laserOdometry time 11.889199 ms 
 
-----t: 0.0528506
OdomCount 1399 & avg odom time 0.044316 ms ++++++++++++++++++++++
mapping solver time 22.505954 ms 
mapping optimization time 148.570743 
add points time 0.739160 ms
--------------------stamp1317357907.373621940
drop lidar frame in mapping for real time performance 
points size 98788 
build tree time 23.697722 ms 
sort q time 5.697225 
seperate points time 13.965606 
-----t: 0.0476163
OdomCount 1400 & avg odom time 0.044318 ms ++++++++++++++++++++++
1317357907.373621940 WriteOdom laser_odom_to_init
1317357907.373621940 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.193269 ms 
mapping solver time 29.952034 ms 
points size 98693 
sort q time 5.485830 
seperate points time 12.534590 
mapping solver time 27.909011 ms 
drop lidar frame in mapping for real time performance 
build tree time 18.543079 ms 
points size 99439 
mapping data assosiation time 40.177618 ms 
-----t: 0.0424698
OdomCount 1402 & avg odom time 0.044320 ms ++++++++++++++++++++++
mapping data assosiation time 31.736198 ms 
points size 99112 
mapping solver time 33.883523 ms 
mapping pub time 2.310373 ms 
whole mapping time 173.648871 ms +++++
mappingCount 1018 & avg mapping time 137.663718 ms ++++++++++++++++++++++
publication time 11.958497 ms 
whole laserOdometry time 11.971676 ms 
 
build tree time 21.868114 ms 
mapping data assosiation time 33.449578 ms 
points size 99601 
prepare time 9.580134 
sort q time 5.931244 
seperate points time 13.403705 
mapping solver time 41.129761 ms 
-----t: 0.0382602
OdomCount 1404 & avg odom time 0.044322 ms ++++++++++++++++++++++
mapping data assosiation time 34.587273 ms 
mapping solver time 27.879302 ms 
points size 100492 
sort q time 6.212035 
seperate points time 13.494587 
build tree time 23.545244 ms 
publication time 10.450234 ms 
whole laserOdometry time 10.463211 ms 
 
mapping data assosiation time 36.888166 ms 
mapping solver time 30.180380 ms 
sort q time 6.644552 
seperate points time 14.356776 
publication time 10.246036 ms 
whole laserOdometry time 10.262148 ms 
 
mapping data assosiation time 40.558541 ms 
-----t: 0.0482664
OdomCount 1406 & avg odom time 0.044326 ms ++++++++++++++++++++++
mapping solver time 31.256800 ms 
filter time 6.291990 ms 
map prepare time 3.108138 ms
map corner num 83925  surf num 43848 
points size 103121 
sort q time 6.169466 
seperate points time 14.723247 
mapping data assosiation time 37.508273 ms 
-----t: 0.0611968
OdomCount 1407 & avg odom time 0.044338 ms ++++++++++++++++++++++
--------------------stamp1317357908.204130887
prepare time 14.049908 
mapping data assosiation time 36.108594 ms 
scan registration time 33.454187 ms *************
publication time 10.004415 ms 
whole laserOdometry time 10.019260 ms 
 
filter time 6.867676 ms 
-----t: 0.047058
OdomCount 1408 & avg odom time 0.044340 ms ++++++++++++++++++++++
1317357908.204130887 WriteOdom laser_odom_to_init
1317357908.204130887 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718889991.168589494, 1317357908.262094242]: Received 129876 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889991.168632909, 1317357908.262094242]: Data saved to 1317357907892779.pcd[0m
mapping pub time 29.195365 ms 
whole mapping time 206.572880 ms +++++
mappingCount 1021 & avg mapping time 137.809904 ms ++++++++++++++++++++++
--------------------stamp1317357908.307907104
prepare time 10.601330 
build tree time 21.900915 ms 
scan registration time 30.865603 ms *************
publication time 11.026222 ms 
whole laserOdometry time 11.045254 ms 
 
mapping data assosiation time 47.138760 ms 
mapping solver time 31.636121 ms 
--------------------stamp1317357908.411680936
points size 101644 
sort q time 5.627418 
seperate points time 14.119607 
publication time 10.735249 ms 
whole laserOdometry time 10.747517 ms 
 
mapping optimization time 175.767011 
mapping pub time 2.396113 ms 
whole mapping time 189.049560 ms +++++
mappingCount 1022 & avg mapping time 137.860058 ms ++++++++++++++++++++++
1317357908.100357056 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.316578 ms
map corner num 86521  surf num 45538 
--------------------stamp1317357908.515431880
prepare time 13.196263 
publication time 11.785343 ms 
whole laserOdometry time 11.797835 ms 
 
mapping solver time 43.810458 ms 
--------------------stamp1317357908.619184970
sort q time 5.582898 
seperate points time 12.101755 
publication time 8.944975 ms mapping solver time 36.164368 ms 
filter time 8.578154 ms 
-----t: 0.0728569
OdomCount 1412 & avg odom time 0.044379 ms ++++++++++++++++++++++
1317357908.619184970 WriteOdom laser_odom_to_init
1317357908.619184970 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.577494 ms 
sort q time 4.808702 
seperate points time 11.548968 
publication time 9.284058 ms 
whole laserOdometry time 9.311066 ms 
 
-----t: 0.0379579
OdomCount 1413 & avg odom time 0.044375 ms ++++++++++++++++++++++
mapping solver time 38.968724 ms 
points size 93122 
mapping data assosiation time 38.490477 ms 
publication time 9.295258 ms 
whole laserOdometry time 9.311492 ms filter time 9.476042 ms 
build tree time 25.152023 ms 
--------------------stamp1317357908.930386066
points size 91225 
sort q time 6.274040 
seperate points time 14.730177 
publication time 8.942267 ms 
whole laserOdometry time 8.959670 ms 
 
mapping solver time 37.343493 ms 
--------------------stamp1317357909.034137010
prepare time 9.940059 
sort q time 5.231143 
seperate points time 11.659222 
scan registration time 26.174905 ms *************
filter time 7.171082 ms 
-----t: 0.052153
OdomCount 1416 & avg odom time 0.044409 ms ++++++++++++++++++++++
build tree time 22.912437 ms 
--------------------stamp1317357909.137890100
sort q time 4.799259 
seperate points time 10.317044 
publication time 10.448976 ms 
whole laserOdometry time 10.466616 ms 
 
-----t: 0.0409866
OdomCount 1417 & avg odom time 0.044406 ms ++++++++++++++++++++++
mapping data assosiation time 36.195624 ms 
--------------------stamp1317357909.241640090
points size 94876 
filter time 7.622917 ms 
publication time 12.703928 ms 
whole laserOdometry time 12.718076 ms 
 
-----t: 0.0450356
OdomCount 1418 & avg odom time 0.044407 ms ++++++++++++++++++++++
1317357909.241640090 WriteOdom laser_odom_to_init
1317357909.241640090 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.967697 ms 
points size 94931 
sort q time 5.867837 
seperate points time 12.928021 
mapping solver time 47.444632 ms 
-----t: 0.0449952
OdomCount 1419 & avg odom time 0.044407 ms ++++++++++++++++++++++
mapping data assosiation time 37.393807 ms 
--------------------stamp1317357909.449191093
prepare time 11.878904 
filter time 7.183108 ms 
publication time 9.551555 ms 
whole laserOdometry time 9.565602 ms 
 
mapping data assosiation time 34.760353 ms 
--------------------stamp1317357909.552941083
points size 95536 
prepare time 10.863198 
sort q time 6.374068 
seperate points time 13.067451 
mapping solver time 37.407765 ms 
scan registration time 28.647439 ms *************
publication time 10.421458 ms 
whole laserOdometry time 10.436923 ms 
 
mapping data assosiation time 41.722812 ms 
--------------------stamp1317357909.656666994
prepare time 12.265150 
drop lidar frame in mapping for real time performance 
map prepare time 3.846228 ms
map corner num 94242  surf num 49602 
sort q time 5.444740 
seperate points time 27.508477 
build tree time 27.450281 ms 
-----t: 0.0455702
OdomCount 1422 & avg odom time 0.044409 ms ++++++++++++++++++++++
mapping data assosiation time 37.282904 ms 
--------------------stamp1317357909.760392904
points size 98483 
mapping solver time 37.839373 ms 
scan registration time 34.171931 ms *************
-----t: 0.0385215
OdomCount 1423 & avg odom time 0.044404 ms ++++++++++++++++++++++
mapping data assosiation time 41.663823 ms 
mapping solver time 24.366229 ms 
filter time 8.260175 ms 
map prepare time 4.544588 ms
map corner num 95456  surf num 50285 
sort q time 5.746039 
seperate points time 14.124021 
publication time 20.327006 ms 
whole laserOdometry time 20.339336 ms 
 
mapping data assosiation time 39.502666 ms 
--------------------stamp1317357909.967799901
points size 100015 
prepare time 13.109942 
sort q time 6.665526 
seperate points time 16.517787 
mapping data assosiation time 41.089229 ms 
publication time 12.533410 ms 
whole laserOdometry time 12.546568 ms 
 
-----t: 0.0577524
OdomCount 1425 & avg odom time 0.044416 ms ++++++++++++++++++++++
mapping solver time 34.880614 ms 
filter time 8.474321 ms 
map prepare time 3.226989 ms
map corner num 96563  surf num 50921 
points size 101208 
build tree time 29.361916 ms 
publication time 12.220563 ms 
whole laserOdometry time 12.234702 ms 
 
mapping data assosiation time 41.679284 ms 
--------------------stamp1317357910.175254106
points size 102966 
sort q time 6.859648 
seperate points time 16.998121 
mapping data assosiation time 44.528867 ms 
publication time 12.089810 ms 
whole laserOdometry time 12.112662 ms 
 
mapping solver time 24.613042 ms 
filter time 9.785072 ms 
map prepare time 2.976576 ms
map corner num 65321  surf num 34675 
points size 103162 
sort q time 6.796877 
seperate points time 17.545326 
scan registration time 37.740902 ms *************
mapping data assosiation time 45.694312 ms 
mapping solver time 33.599952 ms 
--------------------stamp1317357910.382700920
points size 103312 
sort q time 5.960914 
seperate points time 15.217073 
scan registration time 34.268983 ms *************
publication time 13.595832 ms 
whole laserOdometry time 13.610120 ms 
 
1317357910.382700920 WriteOdom aft_mapped_to_init_high_frec
filter time 6.926584 ms 
--------------------stamp1317357910.486442089
prepare time 11.816468 
sort q time 6.275258 
mapping data assosiation time 43.838046 ms 
-----t: 0.0519196
OdomCount 1430 & avg odom time 0.044432 ms ++++++++++++++++++++++
1317357910.486442089 WriteOdom laser_odom_to_init
1317357910.486442089 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357910.590193986
points size 104198 
sort q time 6.380462 
seperate points time 12.449000 
scan registration time 29.878233 ms *************
mapping solver time 28.954224 ms 
mapping pub time 2.480179 ms 
whole mapping time 178.788454 ms +++++
mappingCount 1033 & avg mapping time 138.451023 ms ++++++++++++++++++++++
1317357910.278978109 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.876734 ms
map corner num 67950  surf num 36065 
build tree time 15.497390 ms 
--------------------stamp1317357910.693928003
points size 104221 
sort q time 5.880732 
seperate points time 14.580596 
mapping solver time 40.039340 ms 
-----t: 0.0480482
OdomCount 1432 & avg odom time 0.044436 ms ++++++++++++++++++++++
mapping data assosiation time 36.248363 ms 
--------------------stamp1317357910.798357009
points size 104357 
mapping solver time 30.889856 ms 
sort q time 7.412891 
seperate points time 16.293355 
map prepare time 3.718903 ms
map corner num 69281  surf num 36650 
publication time 11.393780 ms 
whole laserOdometry time 11.402834 ms 
 
build tree time 18.405834 ms 
-----t: 0.0492906
OdomCount 1433 & avg odom time 0.044440 ms ++++++++++++++++++++++
1317357910.798357009 WriteOdom laser_odom_to_init
1317357910.798357009 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.570496 ms 
points size 102998 
sort q time 5.871096 
seperate points time 12.568586 
publication time 9.385424 ms 
whole laserOdometry time 9.403803 ms 
 
mapping data assosiation time 41.558588 ms 
mapping solver time 31.773557 ms 
points size 103076 
sort q time 6.426955 
seperate points time 13.658447 
build tree time 18.509244 ms 
-----t: 0.0430901
OdomCount 1435 & avg odom time 0.044446 ms ++++++++++++++++++++++
mapping data assosiation time 36.555140 ms 
--------------------stamp1317357911.108983039
mapping solver time 38.432532 ms 
sort q time 6.128893 
seperate points time 14.224988 
publication time 9.640051 ms 
whole laserOdometry time 9.654747 ms 
 
mapping solver time 33.052864 ms 
mapping optimization time 173.022593 
add points time 0.811440 ms
map prepare time 3.868958 ms
map corner num 71580  surf num 37572 
build tree time 18.154632 ms 
publication time 11.630270 ms 
whole laserOdometry time 11.645283 ms 
 
mapping solver time 36.706681 ms 
points size 102699 
sort q time 6.901266 
seperate points time 17.163938 
scan registration time 39.082241 ms *************
mapping data assosiation time 44.334135 ms 
publication time 11.009093 ms 
whole laserOdometry time 11.031223 ms 
 
-----t: 0.0428678
OdomCount 1438 & avg odom time 0.044440 ms ++++++++++++++++++++++
1317357911.316478013 WriteOdom laser_odom_to_init
1317357911.316478013 WriteOdom aft_mapped_to_init_high_frec
filter time 6.109498 ms 
map prepare time 2.869516 ms
map corner num 72689  surf num 38064 
build tree time 18.532546 ms 
--------------------stamp1317357911.420231103
points size 103013 
sort q time 5.471145 
seperate points time 13.180643 
mapping data assosiation time 40.715572 ms 
-----t: 0.0458961
OdomCount 1439 & avg odom time 0.044441 ms ++++++++++++++++++++++
--------------------stamp1317357911.523998975
prepare time 12.610556 
sort q time 6.328569 
seperate points time 13.704050 
mapping solver time 27.198074 ms 
filter time 8.400999 ms 
-----t: 0.0434725
OdomCount 1440 & avg odom time 0.044440 ms ++++++++++++++++++++++
build tree time 19.091494 ms 
--------------------stamp1317357911.627747058
prepare time 13.269728 
sort q time 6.252714 
seperate points time 15.353909 
publication time 10.943992 ms 
whole laserOdometry time 10.962405 ms 
 
mapping solver time 60.744414 ms 
--------------------stamp1317357911.731520891
prepare time 10.211675 
sort q time 5.910641 
seperate points time 13.348573 
mapping solver time 38.852570 ms 
filter time 8.892077 ms 
map prepare time 3.913741 ms
map corner num 74955  surf num 39067 
-----t: 0.0592831
OdomCount 1442 & avg odom time 0.044463 ms ++++++++++++++++++++++
--------------------stamp1317357911.835330009
points size 102217 
mapping data assosiation time 40.255022 ms 
scan registration time 28.512460 ms *************
publication time 7.972776 ms 
whole laserOdometry time 7.987992 ms 
 
mapping solver time 49.067155 ms 
-----t: 0.0554271
OdomCount 1443 & avg odom time 0.044471 ms ++++++++++++++++++++++
1317357911.835330009 WriteOdom laser_odom_to_init
1317357911.835330009 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357911.939114093
points size 102116 
sort q time 5.617907 
seperate points time 24.148380 
mapping solver time 36.106802 ms 
mapping optimization time 187.369387 
add points time 0.862703 ms
map prepare time 3.914350 ms
map corner num 76020  surf num 39527 
build tree time 17.857132 ms 
--------------------stamp1317357912.042882919
points size 101904 
sort q time 6.871044 
seperate points time 14.320593 
mapping solver time 33.321696 ms 
-----t: 0.0463097
OdomCount 1445 & avg odom time 0.044475 ms ++++++++++++++++++++++
1317357912.042882919 WriteOdom laser_odom_to_init
1317357912.042882919 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.402110 ms 
--------------------stamp1317357912.146648883
mapping solver time 30.529067 ms 
filter time 7.134828 ms 
[0m[ INFO] [1718889995.077066005, 1317357912.171020149]: Received 117464 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718889995.077133945, 1317357912.171020149]: Data saved to 1317357911835330.pcd[0m
publication time 12.674018 ms 
whole laserOdometry time 12.690721 ms 
 
-----t: 0.0492997
OdomCount 1446 & avg odom time 0.044478 ms ++++++++++++++++++++++
mapping solver time 37.610216 ms 
-----t: 0.0443417
OdomCount 1447 & avg odom time 0.044478 ms ++++++++++++++++++++++
mapping data assosiation time 38.656701 ms 
--------------------stamp1317357912.354126930
mapping solver time 25.260515 ms 
filter time 8.952532 ms 
build tree time 21.384251 ms 
publication time 10.360981 ms 
whole laserOdometry time 10.372735 ms 
 
-----t: 0.04341
OdomCount 1448 & avg odom time 0.044477 ms ++++++++++++++++++++++
1317357912.354126930 WriteOdom laser_odom_to_init
1317357912.354126930 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.767784 ms 
--------------------stamp1317357912.457859039
points size 102607 
prepare time 12.423767 
sort q time 6.038081 
seperate points time 14.282294 
-----t: 0.0426782
OdomCount 1449 & avg odom time 0.044476 ms ++++++++++++++++++++++
1317357912.457859039 WriteOdom laser_odom_to_init
1317357912.457859039 WriteOdom aft_mapped_to_init_high_frec
publication time 22.518025 ms 
whole laserOdometry time 22.531637 ms 
 
mapping solver time 30.233580 ms 
filter time 6.830188 ms 
sort q time 6.143349 
seperate points time 13.549464 
build tree time 20.845115 ms 
publication time 11.303413 ms 
whole laserOdometry time 11.324476 ms 
 
1317357912.561614990 WriteOdom laser_odom_to_init
1317357912.561614990 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357912.665380001
prepare time 11.826753 
sort q time 5.445582 
seperate points time 11.560822 
scan registration time 27.808440 ms *************
mapping data assosiation time 39.928256 ms 
-----t: 0.0615313
OdomCount 1451 & avg odom time 0.044489 ms ++++++++++++++++++++++
filter time 6.933954 ms 
map prepare time 2.953901 ms
map corner num 80772  surf num 42203 
--------------------stamp1317357912.769134044
prepare time 9.681668 
build tree time 19.367028 ms 
sort q time 5.873653 
seperate points time 12.301077 
publication time 9.592062 ms 
whole laserOdometry time 9.608249 ms 
 
-----t: 0.0396456
OdomCount 1452 & avg odom time 0.044486 ms ++++++++++++++++++++++
mapping solver time 33.009504 ms 
--------------------stamp1317357912.872888088
prepare time 9.799477 
mapping data assosiation time 37.305294 ms 
sort q time 5.417930 
seperate points time 13.025258 
publication time 9.635444 ms 
whole laserOdometry time 9.652860 ms 
 
filter time 7.274931 ms 
map prepare time 2.857439 ms
map corner num 82035  surf num 42955 
build tree time 18.057725 ms 
--------------------stamp1317357912.976654052
mapping data assosiation time 39.724840 ms 
-----t: 0.0353575
OdomCount 1454 & avg odom time 0.044474 ms ++++++++++++++++++++++
1317357912.976654052 WriteOdom laser_odom_to_init
1317357912.976654052 WriteOdom aft_mapped_to_init_high_frec
publication time 9.432123 ms 
whole laserOdometry time 9.447608 ms 
 
mapping solver time 46.285555 ms 
--------------------stamp1317357913.080424070
sort q time 4.977482 
seperate points time 12.471632 
mapping solver time 38.252754 ms 
mapping optimization time 181.686032 
add points time 0.843455 ms
map prepare time 2.857534 ms
map corner num 83306  surf num 43627 
build tree time 20.478373 ms 
--------------------stamp1317357913.184175014
prepare time 13.408930 
sort q time 5.782295 
seperate points time 25.507330 
publication time 9.809164 ms 
whole laserOdometry time 9.834174 ms 
 
mapping data assosiation time 37.141820 ms 
--------------------stamp1317357913.287913084
add points time 0.925101 ms
prepare time 12.736264 
filter time 8.187583 ms 
-----t: 0.0444159
OdomCount 1457 & avg odom time 0.044476 ms ++++++++++++++++++++++
mapping data assosiation time 34.968191 ms 
--------------------stamp1317357913.391645908
prepare time 11.348952 
sort q time 5.778888 
seperate points time 13.301102 
mapping solver time 41.327224 ms 
publication time 9.074806 ms 
whole laserOdometry time 9.087078 ms 
 
mapping data assosiation time 38.407937 ms 
mapping solver time 28.722622 ms 
filter time 7.513870 ms 
sort q time 5.535494 
seperate points time 13.174315 
publication time 8.943890 ms 
whole laserOdometry time 8.961354 ms 
 
-----t: 0.0526826
OdomCount 1459 & avg odom time 0.044485 ms ++++++++++++++++++++++
mapping solver time 29.173088 ms 
points size 86510 
sort q time 4.653880 
seperate points time 11.774313 
mapping data assosiation time 37.358666 ms 
publication time 9.512643 ms 
whole laserOdometry time 9.537052 ms 
 
filter time 6.796711 ms 
map prepare time 2.651072 ms
map corner num 86555  surf num 45330 
build tree time 19.671936 ms 
--------------------stamp1317357913.702852010
sort q time 4.529920 
seperate points time 9.291844 
publication time 7.385694 ms 
whole laserOdometry time 7.400213 ms 
 
-----t: 0.0364019
OdomCount 1461 & avg odom time 0.044477 ms ++++++++++++++++++++++
mapping data assosiation time 29.808556 ms 
--------------------stamp1317357913.806579113
points size 79191 
add points time 0.901374 ms
mapping pub time 2.979754 ms 
whole mapping time 166.392671 ms +++++
mappingCount 1050 & avg mapping time 139.196663 ms ++++++++++++++++++++++
map prepare time 3.530913 ms
map corner num 87565  surf num 45785 
-----t: 0.0321488
OdomCount 1462 & avg odom time 0.044469 ms ++++++++++++++++++++++
build tree time 24.408213 ms 
mapping data assosiation time 29.342800 ms 
--------------------stamp1317357913.910379886
sort q time 3.997960 
seperate points time 8.374435 
mapping solver time 43.305110 ms 
-----t: 0.0327603
OdomCount 1463 & avg odom time 0.044461 ms ++++++++++++++++++++++
mapping data assosiation time 32.722225 ms 
mapping solver time 29.664508 ms 
mapping pub time 6.115841 ms 
whole mapping time 181.329765 ms +++++
mappingCount 1051 & avg mapping time 139.236757 ms ++++++++++++++++++++++
sort q time 4.578536 
seperate points time 9.320080 
publication time 6.126215 ms 
whole laserOdometry time 6.164739 ms 
 
build tree time 26.561923 ms 
-----t: 0.0505649
OdomCount 1464 & avg odom time 0.044465 ms ++++++++++++++++++++++
mapping solver time 29.147797 ms 
points size 79645 
sort q time 4.811364 
seperate points time 10.738119 
publication time 7.384676 ms 
whole laserOdometry time 7.398374 ms 
 
-----t: 0.0340084
OdomCount 1465 & avg odom time 0.044458 ms ++++++++++++++++++++++
mapping solver time 32.500469 ms 
filter time 7.434327 ms 
build tree time 20.892060 ms 
points size 86042 
sort q time 4.764933 
seperate points time 11.354441 
publication time 11.543567 ms 
whole laserOdometry time 11.557042 ms 
 
-----t: 0.0385986
OdomCount 1466 & avg odom time 0.044454 ms ++++++++++++++++++++++
1317357914.221703052 WriteOdom laser_odom_to_init
1317357914.221703052 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.027995 ms 
--------------------stamp1317357914.325433969
sort q time 5.868914 
seperate points time 11.442437 
mapping solver time 31.041347 ms 
mapping pub time 1.946697 ms 
whole mapping time 175.783511 ms +++++
mappingCount 1053 & avg mapping time 139.304238 ms ++++++++++++++++++++++
-----t: 0.0560438
OdomCount 1467 & avg odom time 0.044461 ms ++++++++++++++++++++++
1317357914.325433969 WriteOdom laser_odom_to_init
1317357914.325433969 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.007748 ms 
--------------------stamp1317357914.429179906
prepare time 11.578762 
sort q time 5.545368 
seperate points time 12.168437 
mapping solver time 39.952125 ms 
-----t: 0.0422742
OdomCount 1468 & avg odom time 0.044460 ms ++++++++++++++++++++++
mapping data assosiation time 31.958180 ms 
mapping solver time 26.001170 ms 
filter time 10.534699 ms 
map prepare time 3.866909 ms
map corner num 91941  surf num 47369 
sort q time 5.640763 
seperate points time 13.280025 
build tree time 26.987623 ms 
mapping data assosiation time 29.667329 ms 
mapping solver time 25.704450 ms 
points size 98988 
sort q time 5.637227 
seperate points time 13.180813 
publication time 9.084183 ms 
whole laserOdometry time 9.098711 ms 
 
1317357914.636643886 WriteOdom aft_mapped_to_init_high_frec
filter time 7.301516 ms 
mapping pub time 1.956126 ms 
whole mapping time 156.284900 ms +++++
mappingCount 1055 & avg mapping time 139.347561 ms ++++++++++++++++++++++
1317357914.325433969 WriteOdom aft_mapped_to_init
build tree time 19.300596 ms 
--------------------stamp1317357914.740406990
points size 99516 
sort q time 7.094624 
seperate points time 15.614971 
publication time 10.121408 ms 
whole laserOdometry time 10.139483 ms 
 
mapping data assosiation time 31.490322 ms 
--------------------stamp1317357914.844156980
mapping solver time 22.439803 ms 
filter time 9.993996 ms 
map prepare time 3.746147 ms
map corner num 94151  surf num 48374 
publication time 10.430839 ms 
whole laserOdometry time 10.443964 ms 
 
--------------------stamp1317357914.947882890
prepare time 11.803843 
mapping solver time 36.585393 ms 
publication time 13.478331 ms 
whole laserOdometry time 13.495680 ms 
 
mapping data assosiation time 36.741522 ms 
-----t: 0.0748255
OdomCount 1473 & avg odom time 0.044483 ms ++++++++++++++++++++++
1317357914.947882890 WriteOdom laser_odom_to_init
1317357914.947882890 WriteOdom aft_mapped_to_init_high_frec
filter time 11.109786 ms 
map prepare time 4.332854 ms
map corner num 95322  surf num 48866 
build tree time 29.156303 ms 
-----t: 0.044156
OdomCount 1474 & avg odom time 0.044483 ms ++++++++++++++++++++++
mapping data assosiation time 37.897429 ms 
--------------------stamp1317357915.155407905
prepare time 11.617094 
sort q time 5.967775 
seperate points time 13.700486 
publication time 9.144848 ms 
whole laserOdometry time 9.157795 ms 
 
mapping data assosiation time 39.932715 ms 
mapping solver time 24.916412 ms 
mapping pub time 2.326758 ms 
whole mapping time 183.758245 ms +++++
mappingCount 1058 & avg mapping time 139.461341 ms ++++++++++++++++++++++
points size 101507 
sort q time 6.534471 
seperate points time 12.424159 
publication time 9.485214 ms 
whole laserOdometry time 9.498692 ms 
 
mapping data assosiation time 35.500337 ms 
-----t: 0.0723356
OdomCount 1476 & avg odom time 0.044522 ms ++++++++++++++++++++++
1317357915.259181976 WriteOdom laser_odom_to_init
1317357915.259181976 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357915.362957954
points size 101679 
sort q time 7.488551 
seperate points time 14.010563 
publication time 9.271794 ms 
whole laserOdometry time 9.285679 ms 
 
mapping solver time 33.524177 ms 
filter time 7.170529 ms 
map prepare time 2.841601 ms
map corner num 65051  surf num 34307 
build tree time 14.113221 ms 
points size 101378 
sort q time 5.768970 
seperate points time 11.532141 
publication time 9.472289 ms 
whole laserOdometry time 9.487494 ms 
 
-----t: 0.0417124
OdomCount 1478 & avg odom time 0.044519 ms ++++++++++++++++++++++
1317357915.466732025 WriteOdom laser_odom_to_init
1317357915.466732025 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.445990 ms 
mapping data assosiation time 27.212163 ms 
--------------------stamp1317357915.570483922
prepare time 11.397202 
filter time 7.088323 ms 
mapping pub time 2.639937 ms 
whole mapping time 155.009294 ms +++++
mappingCount 1060 & avg mapping time 139.522951 ms ++++++++++++++++++++++
scan registration time 30.101547 ms *************
1317357915.259181976 WriteOdom aft_mapped_to_init
publication time 8.784503 ms 
whole laserOdometry time 8.797734 ms 
 
-----t: 0.0642348
OdomCount 1479 & avg odom time 0.044532 ms ++++++++++++++++++++++
1317357915.570483922 WriteOdom laser_odom_to_init
1317357915.570483922 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357915.674235105
points size 101025 
sort q time 6.604098 
seperate points time 13.855751 
publication time 8.784343 ms 
whole laserOdometry time 8.810616 ms 
 
mapping data assosiation time 34.263465 ms 
mapping solver time 27.625700 ms 
mapping optimization time 150.996025 
add points time 1.091517 ms
--------------------stamp1317357915.777986049
points size 101256 
prepare time 11.562658 
sort q time 6.164324 
seperate points time 14.930459 
build tree time 19.463245 ms 
mapping data assosiation time 34.137035 ms 
--------------------stamp1317357915.881712913
mapping solver time 40.486965 ms 
publication time 8.961092 ms 
whole laserOdometry time 8.972959 ms 
 
mapping data assosiation time 35.158513 ms 
-----t: 0.0790197
OdomCount 1482 & avg odom time 0.044559 ms ++++++++++++++++++++++
--------------------stamp1317357915.985461950
prepare time 11.689907 
build tree time 17.653921 ms 
publication time 7.948921 ms 
whole laserOdometry time 7.983205 ms 
 
mapping data assosiation time 35.008856 ms 
-----t: 0.0546602
OdomCount 1483 & avg odom time 0.044566 ms ++++++++++++++++++++++
1317357915.985461950 WriteOdom laser_odom_to_init
1317357915.985461950 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.357634 ms 
--------------------stamp1317357916.089211940
prepare time 12.045187 
sort q time 6.059118 
seperate points time 14.543345 
mapping solver time 25.047908 ms 
mapping pub time 2.412311 ms 
whole mapping time 154.483715 ms +++++
mappingCount 1063 & avg mapping time 139.629360 ms ++++++++++++++++++++++
map prepare time 3.542104 ms
map corner num 69035  surf num 36081 
-----t: 0.0480625
OdomCount 1484 & avg odom time 0.044568 ms ++++++++++++++++++++++
--------------------stamp1317357916.192961931
mapping data assosiation time 32.008965 ms 
sort q time 5.791696 
seperate points time 13.856946 
mapping solver time 39.294414 ms 
publication time 12.043370 ms 
whole laserOdometry time 12.058535 ms 
 
-----t: 0.0534351
OdomCount 1485 & avg odom time 0.044574 ms ++++++++++++++++++++++
mapping data assosiation time 33.112338 ms 
--------------------stamp1317357916.296737909
prepare time 11.308618 
mapping pub time 2.406420 ms 
whole mapping time 168.719278 ms +++++
mappingCount 1064 & avg mapping time 139.656705 ms ++++++++++++++++++++++
publication time 8.595501 ms 
whole laserOdometry time 8.608058 ms 
 
-----t: 0.0657328
OdomCount 1486 & avg odom time 0.044588 ms ++++++++++++++++++++++
--------------------stamp1317357916.400511980
prepare time 11.304331 
scan registration time 30.737417 ms *************
mapping data assosiation time 34.378426 ms 
mapping solver time 29.231501 ms 
filter time 7.259426 ms 
map prepare time 2.804177 ms
map corner num 70974  surf num 36929 
points size 101172 
build tree time 16.161392 ms 
sort q time 5.531318 
seperate points time 13.347824 
mapping data assosiation time 33.739501 ms 
-----t: 0.04359
OdomCount 1488 & avg odom time 0.044588 ms ++++++++++++++++++++++
mapping solver time 30.002953 ms 
--------------------stamp1317357916.608110904
prepare time 13.008392 
sort q time 5.921033 
seperate points time 12.967238 
filter time 9.399785 ms 
map prepare time 3.696483 ms
map corner num 71881  surf num 37205 
-----t: 0.0555202
OdomCount 1489 & avg odom time 0.044595 ms ++++++++++++++++++++++
mapping data assosiation time 30.235773 ms 
points size 101070 
sort q time 6.466843 
seperate points time 13.876348 
publication time 8.720925 ms 
whole laserOdometry time 8.736493 ms 
 
mapping data assosiation time 33.063208 ms 
mapping solver time 20.336806 ms 
filter time 7.706197 ms 
map prepare time 3.393519 ms
map corner num 72909  surf num 37608 
points size 101188 
prepare time 15.072082 
sort q time 5.586930 
seperate points time 14.103305 
scan registration time 35.590434 ms *************
mapping data assosiation time 36.386568 ms 
mapping solver time 28.930868 ms 
--------------------stamp1317357916.919820070
points size 101829 
prepare time 13.410735 
sort q time 5.600736 
seperate points time 14.217675 
mapping solver time 26.521970 ms 
publication time 10.463141 ms 
whole laserOdometry time 10.478328 ms 
 
filter time 8.430875 ms 
map prepare time 3.610011 ms
map corner num 73857  surf num 37926 
build tree time 16.225270 ms 
--------------------stamp1317357917.023833990
mapping data assosiation time 34.773415 ms 
sort q time 5.828022 
seperate points time 13.935642 
publication time 10.080009 ms 
whole laserOdometry time 10.096729 ms 
 
-----t: 0.0646987
OdomCount 1493 & avg odom time 0.044612 ms ++++++++++++++++++++++
mapping data assosiation time 34.927078 ms 
--------------------stamp1317357917.127921104
points size 101664 
prepare time 11.715129 
mapping solver time 28.948251 ms 
mapping optimization time 160.168615 
add points time 0.890417 ms
scan registration time 32.266876 ms *************
build tree time 20.843914 ms 
publication time 15.590555 ms 
whole laserOdometry time 15.610020 ms 
 
-----t: 0.0581034
OdomCount 1494 & avg odom time 0.044621 ms ++++++++++++++++++++++
1317357917.127921104 WriteOdom laser_odom_to_init
1317357917.127921104 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.643111 ms 
--------------------stamp1317357917.232080936
prepare time 11.367224 
sort q time 6.019929 
seperate points time 13.302852 
publication time 9.894815 ms 
whole laserOdometry time 9.909764 ms 
 
mapping data assosiation time 35.729404 ms 
mapping solver time 34.609466 ms 
filter time 9.614625 ms 
prepare time 15.059514 
sort q time 5.997893 
seperate points time 14.439072 
publication time 9.438478 ms 
whole laserOdometry time 9.452866 ms 
 
-----t: 0.0561016
OdomCount 1496 & avg odom time 0.044629 ms ++++++++++++++++++++++
1317357917.336281061 WriteOdom laser_odom_to_init
1317357917.336281061 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.511624 ms 
--------------------stamp1317357917.440489053
points size 100194 
sort q time 5.986644 
seperate points time 12.856262 
publication time 9.848315 ms 
whole laserOdometry time 9.859865 ms 
 
mapping data assosiation time 39.486850 ms 
-----t: 0.0465123
OdomCount 1497 & avg odom time 0.044630 ms ++++++++++++++++++++++
mapping solver time 32.289828 ms 
filter time 6.674415 ms 
map prepare time 3.514598 ms
map corner num 77092  surf num 39365 
points size 99540 
build tree time 22.964381 ms 
sort q time 6.276670 
seperate points time 14.656205 
publication time 12.191199 ms 
whole laserOdometry time 12.222588 ms 
 
-----t: 0.0522011
OdomCount 1498 & avg odom time 0.044635 ms ++++++++++++++++++++++
mapping solver time 36.077523 ms 
points size 98323 
sort q time 6.558600 
seperate points time 15.383674 
publication time 10.369508 ms 
whole laserOdometry time 10.382887 ms 
 
mapping solver time 42.980647 ms 
filter time 8.506721 ms 
--------------------stamp1317357917.753283977
points size 97576 
build tree time 23.693092 ms 
scan registration time 34.756956 ms *************
publication time 9.331641 ms 
whole laserOdometry time 9.345747 ms 
 
1317357917.753283977 WriteOdom laser_odom_to_init
1317357917.753283977 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.774502 ms 
points size 97361 
prepare time 12.972749 
scan registration time 32.309468 ms *************
publication time 9.101587 ms 
whole laserOdometry time 9.117631 ms 
 
-----t: 0.0520601
OdomCount 1501 & avg odom time 0.044641 ms ++++++++++++++++++++++
1317357917.857559919 WriteOdom laser_odom_to_init
1317357917.857559919 WriteOdom aft_mapped_to_init_high_frec
filter time 7.227869 ms 
map prepare time 4.140904 ms
map corner num 79431  surf num 40666 
points size 97288 
build tree time 19.675699 ms 
scan registration time 32.507467 ms *************
publication time 12.579923 ms 
whole laserOdometry time 12.597721 ms 
 
-----t: 0.0544992
OdomCount 1502 & avg odom time 0.044647 ms ++++++++++++++++++++++
mapping solver time 37.418414 ms 
points size 96953 
sort q time 5.273219 
seperate points time 13.265750 
mapping data assosiation time 38.688719 ms 
publication time 9.897525 ms 
whole laserOdometry time 9.915801 ms 
 
-----t: 0.0532916
OdomCount 1503 & avg odom time 0.044653 ms ++++++++++++++++++++++
mapping solver time 40.807715 ms 
filter time 6.684267 ms 
map prepare time 3.021750 ms
map corner num 80619  surf num 41418 
--------------------stamp1317357918.170540094
build tree time 20.197858 ms 
sort q time 5.433410 
seperate points time 13.510088 
publication time 8.588634 ms 
whole laserOdometry time 8.603980 ms 
 
-----t: 0.0489916
OdomCount 1504 & avg odom time 0.044656 ms ++++++++++++++++++++++
1317357918.170540094 WriteOdom laser_odom_to_init
1317357918.170540094 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.077216 ms 
--------------------stamp1317357918.274889945
prepare time 10.089716 
sort q time 5.847718 
seperate points time 13.446213 
publication time 9.814929 ms 
whole laserOdometry time 9.828192 ms 
 
-----t: 0.0490724
OdomCount 1505 & avg odom time 0.044659 ms ++++++++++++++++++++++
1317357918.274889945 WriteOdom laser_odom_to_init
1317357918.274889945 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.924440 ms 
mapping optimization time 184.185053 
add points time 0.747978 ms
mapping pub time 2.421352 ms 
whole mapping time 197.389440 ms +++++
mappingCount 1075 & avg mapping time 140.093003 ms ++++++++++++++++++++++
build tree time 17.819534 ms 
points size 98686 
sort q time 5.744318 
seperate points time 12.818523 
mapping data assosiation time 39.317718 ms 
publication time 18.108567 ms 
whole laserOdometry time 18.124698 ms 
 
mapping solver time 43.521439 ms 
--------------------stamp1317357918.483431100
prepare time 11.643053 
sort q time 5.575667 
seperate points time 13.453849 
add points time 1.054799 ms
-----t: 0.0418866
OdomCount 1507 & avg odom time 0.044663 ms ++++++++++++++++++++++
1317357918.483431100 WriteOdom laser_odom_to_init
1317357918.483431100 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.945550 ms
map corner num 82824  surf num 42945 
build tree time 18.383416 ms 
--------------------stamp1317357918.587654113
mapping data assosiation time 38.847458 ms 
sort q time 6.313086 
seperate points time 12.390533 
scan registration time 28.692254 ms *************
publication time 8.784919 ms 
whole laserOdometry time 8.796291 ms 
 
-----t: 0.0461955
OdomCount 1508 & avg odom time 0.044664 ms ++++++++++++++++++++++
--------------------stamp1317357918.691860914
points size 99499 
mapping solver time 25.848635 ms 
sort q time 6.126283 
seperate points time 14.901879 
filter time 8.544062 ms 
publication time 11.445377 ms 
whole laserOdometry time 11.459517 ms 
 
build tree time 23.110916 ms 
--------------------stamp1317357918.796020984points size 99892 
prepare time 12.318693 
sort q time 6.482023 
seperate points time 14.049656 
mapping solver time 35.059746 ms 
publication time 12.819353 ms 
whole laserOdometry time 12.832342 ms 
 
1317357918.796020984 WriteOdom laser_odom_to_init
1317357918.796020984 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.625180 ms 
--------------------stamp1317357918.900182962
points size 100172 
mapping pub time 2.445299 ms 
whole mapping time 180.094763 ms +++++
mappingCount 1078 & avg mapping time 140.219206 ms ++++++++++++++++++++++
1317357918.587654114 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 27.677912 ms 
-----t: 0.0520342
OdomCount 1511 & avg odom time 0.044695 ms ++++++++++++++++++++++
mapping data assosiation time 40.709278 ms 
--------------------stamp1317357919.004309892
prepare time 12.485616 
mapping solver time 36.592339 ms 
sort q time 6.055032 
seperate points time 13.355109 
1317357919.004309892 WriteOdom laser_odom_to_init
1317357919.004309892 WriteOdom aft_mapped_to_init_high_frec
publication time 19.608071 ms 
whole laserOdometry time 19.618190 ms 
 
mapping solver time 23.811230 ms 
--------------------stamp1317357919.108396053
map prepare time 3.483847 ms
map corner num 85881  surf num 45146 
sort q time 5.818161 
seperate points time 11.894452 
build tree time 25.721443 ms 
publication time 10.023181 ms 
whole laserOdometry time 10.037767 ms 
 
-----t: 0.0530607
OdomCount 1513 & avg odom time 0.044702 ms ++++++++++++++++++++++
1317357919.108396053 WriteOdom laser_odom_to_init
1317357919.108396053 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357919.212460041
prepare time 11.470881 
sort q time 6.517181 
seperate points time 12.602087 
publication time 8.405267 ms 
whole laserOdometry time 8.415414 ms 
 
mapping data assosiation time 41.219635 ms 
-----t: 0.0553457
OdomCount 1514 & avg odom time 0.044709 ms ++++++++++++++++++++++
mapping solver time 33.435940 ms 
filter time 7.111852 ms 
prepare time 11.781512 
sort q time 6.076563 
seperate points time 13.963605 
scan registration time 31.823165 ms *************
publication time 11.491818 ms 
whole laserOdometry time 11.509025 ms 
 
-----t: 0.0455623
OdomCount 1515 & avg odom time 0.044709 ms ++++++++++++++++++++++
--------------------stamp1317357919.420558929
points size 102466 
prepare time 11.666829 
sort q time 5.908275 
seperate points time 13.230809 
scan registration time 30.366724 ms *************
publication time 9.022306 ms 
whole laserOdometry time 9.035482 ms 
 
-----t: 0.0492868
OdomCount 1516 & avg odom time 0.044712 ms ++++++++++++++++++++++
mapping solver time 32.878615 ms 
filter time 7.586387 ms 
--------------------stamp1317357919.524571895
prepare time 14.789772 
drop lidar frame in mapping for real time performance 
publication time 9.769328 ms 
whole laserOdometry time 9.783273 ms 
 
build tree time 25.484979 ms 
-----t: 0.0518987
OdomCount 1517 & avg odom time 0.044717 ms ++++++++++++++++++++++
1317357919.524571895 WriteOdom laser_odom_to_init
1317357919.524571895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.048121 ms 
--------------------stamp1317357919.628571033
points size 102605 
sort q time 5.963056 
seperate points time 14.510336 
publication time 10.717437 ms 
whole laserOdometry time 10.732334 ms 
 
mapping data assosiation time 39.563525 ms 
mapping solver time 25.331580 ms 
points size 102669 
mapping pub time 2.594425 ms 
whole mapping time 196.818499 ms +++++
mappingCount 1082 & avg mapping time 140.456448 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
1317357919.316521883 WriteOdom aft_mapped_to_init
scan registration time 32.215630 ms *************
build tree time 23.544757 ms 
-----t: 0.0540725
OdomCount 1519 & avg odom time 0.044736 ms ++++++++++++++++++++++
1317357919.732542037 WriteOdom laser_odom_to_init
1317357919.732542037 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 41.206572 ms 
--------------------stamp1317357919.836477994
points size 102704 
prepare time 12.685390 
sort q time 6.264993 
seperate points time 14.757466 
publication time 12.923048 ms 
whole laserOdometry time 12.939448 ms 
 
-----t: 0.046881
OdomCount 1520 & avg odom time 0.044738 ms ++++++++++++++++++++++
mapping data assosiation time 42.110674 ms 
mapping solver time 23.690952 ms 
filter time 10.250256 ms 
sort q time 5.988064 
seperate points time 14.008478 
build tree time 25.675629 ms 
publication time 9.219384 ms 
whole laserOdometry time 9.239364 ms 
 
-----t: 0.0418305
OdomCount 1521 & avg odom time 0.044736 ms ++++++++++++++++++++++
1317357919.940383911 WriteOdom laser_odom_to_init
1317357919.940383911 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 38.851042 ms 
--------------------stamp1317357920.044308900
points size 103624 
sort q time 5.692400 
seperate points time 13.848414 
publication time 9.658229 ms 
whole laserOdometry time 9.674155 ms 
 
mapping data assosiation time 43.249754 ms 
mapping solver time 31.341378 ms 
filter time 7.958524 ms 
map prepare time 3.610671 ms
map corner num 91253  surf num 48998 
points size 103669 
prepare time 15.563763 
build tree time 23.471056 ms 
scan registration time 41.951490 ms *************
publication time 10.268101 ms 
whole laserOdometry time 10.284080 ms 
 
-----t: 0.063905
OdomCount 1523 & avg odom time 0.044752 ms ++++++++++++++++++++++
--------------------stamp1317357920.251995086
points size 103679 
sort q time 6.357843 
seperate points time 14.294475 
publication time 10.022172 ms 
whole laserOdometry time 10.037739 ms 
 
-----t: 0.045816
OdomCount 1524 & avg odom time 0.044752 ms ++++++++++++++++++++++
mapping solver time 31.486109 ms 
--------------------stamp1317357920.355820894
map prepare time 3.411538 ms
map corner num 92318  surf num 49756 
points size 103612 
prepare time 14.561203 
sort q time 5.762126 
seperate points time 14.422774 
publication time 9.973585 ms 
whole laserOdometry time 9.987426 ms 
 
mapping data assosiation time 42.679372 ms 
--------------------stamp1317357920.459600925
prepare time 12.783627 
sort q time 5.684937 
seperate points time 13.944166 
mapping data assosiation time 42.375332 ms 
mapping solver time 32.758616 ms 
filter time 7.769048 ms 
drop lidar frame in mapping for real time performance 
points size 103904 
sort q time 5.638431 
seperate points time 13.054274 
publication time 13.146747 ms 
whole laserOdometry time 13.161958 ms 
 
-----t: 0.0467164
OdomCount 1527 & avg odom time 0.044751 ms ++++++++++++++++++++++
1317357920.563275098 WriteOdom laser_odom_to_init
1317357920.563275098 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.428091 ms 
points size 104050 
sort q time 6.394076 
seperate points time 14.457511 
publication time 11.762787 ms 
whole laserOdometry time 11.776798 ms 
 
add points time 1.200765 ms
filter time 15.829441 ms 
--------------------stamp1317357920.770612955
prepare time 13.262752 
sort q time 6.133739 
seperate points time 13.368874 
mapping data assosiation time 38.824969 ms 
publication time 17.646269 ms 
whole laserOdometry time 17.658876 ms 
 
-----t: 0.0653079
OdomCount 1529 & avg odom time 0.044803 ms ++++++++++++++++++++++
mapping solver time 41.676591 ms 
points size 103008 
sort q time 6.465855 
seperate points time 13.005033 
mapping data assosiation time 41.645687 ms 
-----t: 0.050924
OdomCount 1530 & avg odom time 0.044807 ms ++++++++++++++++++++++
mapping solver time 40.298446 ms 
mapping pub time 2.303127 ms 
whole mapping time 211.327512 ms +++++
mappingCount 1088 & avg mapping time 140.786810 ms ++++++++++++++++++++++
--------------------stamp1317357920.978020906
points size 102575 
sort q time 7.249097 
seperate points time 13.431545 
publication time 10.239241 ms 
whole laserOdometry time 10.255681 ms 
 
--------------------stamp1317357921.081715106
points size 101616 
sort q time 5.943765 
seperate points time 13.431018 
mapping data assosiation time 37.512623 ms 
publication time 10.372171 ms 
whole laserOdometry time 10.386349 ms 
 
mapping solver time 37.256202 ms 
mapping optimization time 184.099619 
add points time 0.834083 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357921.185442924
prepare time 11.634892 
build tree time 27.309775 ms 
publication time 9.650918 ms 
whole laserOdometry time 9.664755 ms 
 
mapping data assosiation time 37.310261 ms 
-----t: 0.037728
OdomCount 1533 & avg odom time 0.044803 ms ++++++++++++++++++++++
1317357921.185442924 WriteOdom laser_odom_to_init
1317357921.185442924 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.271724 ms 
--------------------stamp1317357921.289122104
points size 98603 
prepare time 11.552754 
sort q time 5.535820 
seperate points time 11.999869 
publication time 10.438522 ms 
whole laserOdometry time 10.457460 ms 
 
mapping solver time 38.056281 ms 
filter time 10.171867 ms 
mapping pub time 2.363016 ms 
whole mapping time 186.671660 ms +++++
mappingCount 1090 & avg mapping time 140.881444 ms ++++++++++++++++++++++
1317357920.978020906 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 22.562486 ms 
points size 97366 
sort q time 6.544580 
seperate points time 15.395145 
scan registration time 36.937419 ms *************
publication time 9.695948 ms 
whole laserOdometry time 9.713579 ms 
 
mapping solver time 42.741717 ms 
-----t: 0.0753915
OdomCount 1535 & avg odom time 0.044822 ms ++++++++++++++++++++++
points size 96515 
mapping data assosiation time 36.257705 ms 
prepare time 13.232123 
scan registration time 31.453404 ms *************
publication time 8.980008 ms 
whole laserOdometry time 8.999792 ms 
 
build tree time 23.920197 ms 
--------------------stamp1317357921.600142002
prepare time 11.360949 
mapping data assosiation time 35.332731 ms 
publication time 9.715853 ms 
whole laserOdometry time 9.734339 ms 
 
-----t: 0.047791
OdomCount 1537 & avg odom time 0.044822 ms ++++++++++++++++++++++
mapping data assosiation time 32.948942 ms 
--------------------stamp1317357921.703849077
points size 95803 
filter time 10.059298 ms 
publication time 16.131521 ms 
whole laserOdometry time 16.144721 ms 
 
-----t: 0.0629324
OdomCount 1538 & avg odom time 0.044834 ms ++++++++++++++++++++++
mapping data assosiation time 31.041729 ms 
--------------------stamp1317357921.807575941
prepare time 10.676996 
sort q time 6.258668 
seperate points time 12.328915 
publication time 12.499769 ms 
whole laserOdometry time 12.532666 ms 
 
mapping data assosiation time 38.466150 ms 
-----t: 0.060899
OdomCount 1539 & avg odom time 0.044844 ms ++++++++++++++++++++++
mapping optimization time 154.018125 
filter time 8.358243 ms 
map prepare time 3.173553 ms
map corner num 101369  surf num 53905 
points size 95393 
build tree time 29.212606 ms 
publication time 14.682167 ms 
whole laserOdometry time 14.698791 ms 
 
mapping data assosiation time 39.635106 ms 
-----t: 0.0476985
OdomCount 1540 & avg odom time 0.044846 ms ++++++++++++++++++++++
1317357921.911298036 WriteOdom laser_odom_to_init
1317357921.911298036 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.006306 ms 
--------------------stamp1317357922.015014886
points size 95322 
sort q time 5.560941 
seperate points time 13.665852 
publication time 10.754572 ms 
whole laserOdometry time 10.768198 ms 
 
mapping solver time 25.049381 ms 
map prepare time 3.068571 ms
map corner num 102350  surf num 54177 
build tree time 23.889776 ms 
prepare time 8.590216 
sort q time 5.629591 
seperate points time 11.830681 
mapping data assosiation time 35.749622 ms 
publication time 9.687183 ms 
whole laserOdometry time 9.704084 ms 
 
1317357922.118742942 WriteOdom laser_odom_to_init
1317357922.118742942 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 44.277282 ms 
--------------------stamp1317357922.222523927
prepare time 11.206879 
sort q time 5.736873 
seperate points time 12.254364 
mapping optimization time 165.864331 
publication time 10.386599 ms 
whole laserOdometry time 10.404614 ms 
 
-----t: 0.0445296
OdomCount 1543 & avg odom time 0.044846 ms ++++++++++++++++++++++
build tree time 25.091795 ms 
points size 91672 
sort q time 4.596512 
seperate points time 10.068939 
publication time 8.887645 ms 
whole laserOdometry time 8.900325 ms 
 
mapping solver time 35.239437 ms 
-----t: 0.0385859
OdomCount 1544 & avg odom time 0.044842 ms ++++++++++++++++++++++
mapping data assosiation time 33.526159 ms 
mapping solver time 21.503170 ms 
points size 90258 

scan registration time 33.010662 ms *************
publication time 10.170179 ms 
whole laserOdometry time 10.189117 ms 
 
-----t: 0.0534747
OdomCount 1545 & avg odom time 0.044848 ms ++++++++++++++++++++++
mapping data assosiation time 31.616133 ms 
prepare time 9.974273 
sort q time 4.974289 
seperate points time 11.256495 
publication time 8.732579 ms 
whole laserOdometry time 8.745893 ms 
 
-----t: 0.0495258
OdomCount 1546 & avg odom time 0.044851 ms ++++++++++++++++++++++
1317357922.533946037 WriteOdom laser_odom_to_init
1317357922.533946037 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.159968 ms 
mapping solver time 20.303596 ms 
filter time 7.991704 ms 
map prepare time 4.727123 ms
map corner num 105618  surf num 55174 
sort q time 5.010527 
seperate points time 12.129606 
build tree time 33.236298 ms 
-----t: 0.0425714
OdomCount 1547 & avg odom time 0.044849 ms ++++++++++++++++++++++
mapping data assosiation time 32.578456 ms 
mapping solver time 27.902023 ms 
points size 87860 
prepare time 11.596375 
mapping data assosiation time 41.953034 ms 
mapping solver time 26.283345 ms 
filter time 8.002517 ms 
map prepare time 3.064364 ms
map corner num 106525  surf num 55407 
--------------------stamp1317357922.845412015
build tree time 29.408828 ms 
sort q time 5.419716 
seperate points time 11.851539 
publication time 11.140412 ms 
whole laserOdometry time 11.155541 ms 
 
mapping data assosiation time 36.165229 ms 
-----t: 0.0585923
OdomCount 1549 & avg odom time 0.044863 ms ++++++++++++++++++++++
--------------------stamp1317357922.949234962
sort q time 4.793622 
seperate points time 9.942112 
scan registration time 20.119935 ms *************
filter time 11.348997 ms 
map prepare time 4.171159 ms
map corner num 107550  surf num 55722 
-----t: 0.0457737
OdomCount 1550 & avg odom time 0.044864 ms ++++++++++++++++++++++
build tree time 26.767293 ms 
--------------------stamp1317357923.053059101
sort q time 4.562061 
seperate points time 9.905446 
mapping solver time 31.559577 ms 
-----t: 0.0366525
OdomCount 1551 & avg odom time 0.044859 ms ++++++++++++++++++++++
mapping data assosiation time 32.330846 ms 
mapping solver time 26.128800 ms 
points size 84913 
filter time 12.788858 ms 
prepare time 10.357180 
mapping pub time 2.215704 ms 
whole mapping time 171.860607 ms +++++
mappingCount 1100 & avg mapping time 141.218404 ms ++++++++++++++++++++++
1317357922.845412016 WriteOdom aft_mapped_to_init
publication time 9.000276 ms 
whole laserOdometry time 9.013959 ms 
 
build tree time 30.256005 ms 
-----t: 0.0381752
OdomCount 1552 & avg odom time 0.044854 ms ++++++++++++++++++++++
1317357923.156883001 WriteOdom laser_odom_to_init
1317357923.156883001 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.927643 ms 
--------------------stamp1317357923.260704994
points size 81239 
sort q time 5.165526 
seperate points time 12.477883 
publication time 8.110659 ms 
whole laserOdometry time 8.127368 ms 
 
mapping solver time 21.760701 ms 
mapping optimization time 151.099507 
add points time 1.399030 ms
points size 78011 
sort q time 4.517447 
seperate points time 9.937722 
publication time 9.729236 ms 
whole laserOdometry time 9.751416 ms 
 
mapping data assosiation time 29.133374 ms 
mapping solver time 27.702502 ms 
scan registration time 19.340122 ms *************
mapping data assosiation time 33.834443 ms 
-----t: 0.0376025
OdomCount 1555 & avg odom time 0.044837 ms ++++++++++++++++++++++
filter time 8.693416 ms 
mapping pub time 1.885768 ms 
whole mapping time 160.943792 ms +++++
mappingCount 1102 & avg mapping time 141.291782 ms ++++++++++++++++++++++
1317357923.156883001 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.765147 ms
map corner num 76091  surf num 38813 
build tree time 19.750540 ms 
--------------------stamp1317357923.572129964
sort q time 4.075732 
seperate points time 9.407374 
publication time 7.479305 ms 
whole laserOdometry time 7.492483 ms 
 
-----t: 0.0369035
OdomCount 1556 & avg odom time 0.044832 ms ++++++++++++++++++++++
mapping data assosiation time 26.614909 ms 
--------------------stamp1317357923.675930023
mapping optimization time 141.629567 
scan registration time 16.548796 ms *************
map prepare time 3.148014 ms
map corner num 77006  surf num 39131 
-----t: 0.0295154
OdomCount 1557 & avg odom time 0.044822 ms ++++++++++++++++++++++
mapping data assosiation time 26.335738 ms 
mapping solver time 25.694833 ms 
points size 65334 
scan registration time 18.701985 ms *************
publication time 10.351275 ms 
whole laserOdometry time 10.362896 ms 
 
mapping solver time 22.122897 ms 
filter time 7.802088 ms 
build tree time 18.980820 ms 
--------------------stamp1317357923.883527040
mapping data assosiation time 28.437322 ms 
publication time 6.574267 ms 
whole laserOdometry time 6.587580 ms 
 
-----t: 0.0410023
OdomCount 1559 & avg odom time 0.044822 ms ++++++++++++++++++++++
mapping data assosiation time 28.407414 ms 
mapping solver time 18.429728 ms 
filter time 7.395677 ms 
--------------------stamp1317357923.987302064
points size 70646 
sort q time 3.855387 
seperate points time 9.361049 
publication time 7.554568 ms 
whole laserOdometry time 7.576237 ms 
 
mapping solver time 23.456642 ms 
mapping data assosiation time 23.226820 ms 
points size 74591 
sort q time 4.104316 
seperate points time 10.103239 
publication time 7.514640 ms 
whole laserOdometry time 7.530315 ms 
 
-----t: 0.0443914
OdomCount 1561 & avg odom time 0.044814 ms ++++++++++++++++++++++
mapping data assosiation time 24.764013 ms 
--------------------stamp1317357924.194849967
sort q time 3.785629 
seperate points time 8.817895 
publication time 8.417524 ms 
whole laserOdometry time 8.432352 ms 
 
-----t: 0.0368797
OdomCount 1562 & avg odom time 0.044809 ms ++++++++++++++++++++++
filter time 6.398348 ms 
build tree time 18.713576 ms 
--------------------stamp1317357924.298649072
mapping data assosiation time 27.795415 ms 
mapping solver time 31.068525 ms 
mapping data assosiation time 25.690825 ms 
mapping solver time 19.058070 ms 
mapping pub time 1.761443 ms 
whole mapping time 135.613321 ms +++++
mappingCount 1108 & avg mapping time 141.293708 ms ++++++++++++++++++++++
points size 84784 
sort q time 5.047065 
seperate points time 10.797283 
publication time 8.389411 ms 
whole laserOdometry time 8.403080 ms 
 
mapping data assosiation time 29.617145 ms 
1317357924.402472019 WriteOdom laser_odom_to_init
1317357924.402472019 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.275301 ms 
--------------------stamp1317357924.506295919
points size 87639 
sort q time 5.270514 
seperate points time 11.198778 
add points time 0.967864 ms
mapping pub time 1.799978 ms 
whole mapping time 144.738391 ms +++++
mappingCount 1109 & avg mapping time 141.296817 ms ++++++++++++++++++++++
-----t: 0.0425406
OdomCount 1565 & avg odom time 0.044805 ms ++++++++++++++++++++++
build tree time 21.694512 ms 
mapping data assosiation time 27.102089 ms 
--------------------stamp1317357924.610117912
points size 88288 
mapping solver time 28.074396 ms 
publication time 8.766073 ms 
whole laserOdometry time 8.785437 ms 
 
mapping solver time 18.628118 ms 
filter time 6.363953 ms 
mapping pub time 1.926288 ms 
whole mapping time 140.024100 ms +++++
mappingCount 1110 & avg mapping time 141.295675 ms ++++++++++++++++++++++
1317357924.402472019 WriteOdom aft_mapped_to_init
--------------------stamp1317357924.713964939
points size 88092 
sort q time 4.890301 
seperate points time 11.932434 
mapping data assosiation time 31.195695 ms 
-----t: 0.03407
OdomCount 1567 & avg odom time 0.044791 ms ++++++++++++++++++++++
mapping solver time 29.148522 ms 
mapping data assosiation time 25.632275 ms 
mapping solver time 13.958902 ms 
points size 88834 
filter time 7.939789 ms 
publication time 10.509266 ms 
whole laserOdometry time 10.529053 ms 
 
-----t: 0.047544
OdomCount 1568 & avg odom time 0.044792 ms ++++++++++++++++++++++
mapping data assosiation time 30.515538 ms 
--------------------stamp1317357924.921658039
points size 88825 
prepare time 13.306061 
mapping solver time 37.835407 ms 
filter time 10.623852 ms 
--------------------stamp1317357925.025552034
prepare time 13.331450 
sort q time 4.910237 
seperate points time 11.977093 
publication time 9.579086 ms 
whole laserOdometry time 9.594813 ms 
 
mapping data assosiation time 42.084227 ms -----t: 0.0689719
OdomCount 1570 & avg odom time 0.044831 ms ++++++++++++++++++++++--------------------stamp1317357925.129471063
mapping data assosiation time 36.577969 ms 
mapping solver time 53.299106 ms 
-----t: 0.0731138
OdomCount 1571 & avg odom time 0.044849 ms ++++++++++++++++++++++
filter time 10.622199 ms 
map prepare time 4.199723 ms
map corner num 84903  surf num 41078 
sort q time 5.229589 
seperate points time 14.697938 
build tree time 24.886200 ms 
-----t: 0.0522616
OdomCount 1572 & avg odom time 0.044854 ms ++++++++++++++++++++++
mapping solver time 27.440233 ms 
sort q time 5.426481 
seperate points time 11.716630 
mapping data assosiation time 33.230472 ms 
publication time 8.968042 ms 
whole laserOdometry time 8.985103 ms 
 
-----t: 0.0443747
OdomCount 1573 & avg odom time 0.044853 ms ++++++++++++++++++++++
1317357925.337378978 WriteOdom laser_odom_to_init
1317357925.337378978 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.109409 ms 
mapping optimization time 149.745898 
add points time 0.937663 ms
drop lidar frame in mapping for real time performance 
build tree time 19.197342 ms 
points size 89691 
scan registration time 28.902444 ms *************
mapping data assosiation time 39.354711 ms 
publication time 11.548767 ms 
whole laserOdometry time 11.569971 ms 
 
-----t: 0.0438991
OdomCount 1574 & avg odom time 0.044853 ms ++++++++++++++++++++++
mapping data assosiation time 25.279760 ms 
--------------------stamp1317357925.545409917
mapping solver time 27.168353 ms 
mapping optimization time 145.573602 
add points time 1.110511 ms
sort q time 5.598102 
seperate points time 11.520107 
scan registration time 22.311405 ms *************
publication time 12.709828 ms 
whole laserOdometry time 12.721050 ms 
 
1317357925.545409917 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.251631 ms 
mapping data assosiation time 27.663249 ms 
--------------------stamp1317357925.649471998
prepare time 12.030452 
sort q time 5.337079 
seperate points time 11.560155 
mapping data assosiation time 33.322026 ms 
mapping solver time 19.945812 ms 
filter time 6.777066 ms 
map prepare time 2.699107 ms
map corner num 87425  surf num 41814 
--------------------stamp1317357925.753536939
prepare time 12.124754 
sort q time 5.510484 
seperate points time 11.386373 
publication time 7.555266 ms 
whole laserOdometry time 7.568167 ms 
 
mapping solver time 23.692931 ms 
mapping data assosiation time 31.256351 ms 
--------------------stamp1317357925.857623100
prepare time 11.579763 
filter time 7.859798 ms 
mapping pub time 2.125500 ms 
whole mapping time 146.635074 ms +++++
mappingCount 1117 & avg mapping time 141.454202 ms ++++++++++++++++++++++
1317357925.545409918 WriteOdom aft_mapped_to_init
publication time 7.261050 ms 
whole laserOdometry time 7.274538 ms 
 
build tree time 27.031674 ms 
mapping data assosiation time 31.754913 ms 
--------------------stamp1317357925.961733102
points size 101361 
sort q time 5.769521 
seperate points time 13.594147 
publication time 9.638771 ms 
whole laserOdometry time 9.652054 ms 
 
mapping solver time 20.574148 ms 
mapping optimization time 144.978535 
add points time 1.295675 ms
1317357925.961733102 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.966361 ms 
prepare time 13.791344 
sort q time 7.892370 
seperate points time 17.925445 
publication time 8.709838 ms 
whole laserOdometry time 8.727342 ms 
 
mapping data assosiation time 27.150269 ms 
--------------------stamp1317357926.170001983
points size 104126 
mapping solver time 28.034228 ms 
filter time 9.804432 ms 
sort q time 6.087198 
seperate points time 17.830288 
mapping pub time 2.408606 ms 
whole mapping time 160.570910 ms +++++
mappingCount 1119 & avg mapping time 141.490015 ms ++++++++++++++++++++++
1317357925.857623100 WriteOdom aft_mapped_to_init
-----t: 0.0444709
OdomCount 1581 & avg odom time 0.044865 ms ++++++++++++++++++++++
build tree time 27.221221 ms 
mapping data assosiation time 26.799112 ms 
--------------------stamp1317357926.274138927
points size 104030 
mapping solver time 34.408066 ms 
publication time 12.271982 ms 
whole laserOdometry time 12.299367 ms 
 
-----t: 0.0411569
OdomCount 1582 & avg odom time 0.044863 ms ++++++++++++++++++++++
mapping solver time 27.540785 ms 
filter time 7.122300 ms 
--------------------stamp1317357926.378297090
prepare time 11.518635 
sort q time 6.024852 
seperate points time 12.404931 
publication time 9.314946 ms 
whole laserOdometry time 9.331470 ms 
 
mapping solver time 31.704479 ms 
--------------------stamp1317357926.482455968
points size 104048 
mapping data assosiation time 33.120868 ms 
scan registration time 32.395274 ms *************
publication time 9.312484 ms 
whole laserOdometry time 9.325553 ms 
 
mapping solver time 30.858894 ms 
mapping optimization time 155.526853 
add points time 0.997470 ms
-----t: 0.0554246
OdomCount 1584 & avg odom time 0.044868 ms ++++++++++++++++++++++
mapping pub time 33.579440 ms 
whole mapping time 203.500136 ms +++++
mappingCount 1121 & avg mapping time 141.566575 ms ++++++++++++++++++++++
points size 104003 
build tree time 24.072113 ms 
publication time 9.941191 ms 
whole laserOdometry time 9.954295 ms 
 
-----t: 0.0561896
OdomCount 1585 & avg odom time 0.044876 ms ++++++++++++++++++++++
1317357926.586615085 WriteOdom laser_odom_to_init
1317357926.586615085 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.995432 ms 
-----t: 0.054957
OdomCount 1586 & avg odom time 0.044882 ms ++++++++++++++++++++++
1317357926.690773010 WriteOdom laser_odom_to_init
1317357926.690773010 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.720328 ms 
--------------------stamp1317357926.794929981
points size 103863 
sort q time 6.082798 
seperate points time 13.947029 
mapping solver time 32.089617 ms 
publication time 9.303311 ms 
whole laserOdometry time 9.314228 ms 
 
mapping data assosiation time 31.822551 ms 
--------------------stamp1317357926.899090051
add points time 1.067131 ms
mapping pub time 2.276298 ms 
whole mapping time 166.374639 ms +++++
mappingCount 1123 & avg mapping time 141.612949 ms ++++++++++++++++++++++
1317357926.586615086 WriteOdom aft_mapped_to_init
publication time 10.018266 ms 
whole laserOdometry time 10.031723 ms 
 
-----t: 0.0498844
OdomCount 1588 & avg odom time 0.044896 ms ++++++++++++++++++++++
mapping data assosiation time 29.490609 ms 
--------------------stamp1317357927.003249883
points size 103970 
mapping solver time 38.423230 ms 
sort q time 6.619451 
seperate points time 15.532843 
scan registration time 35.806613 ms *************
publication time 12.546611 ms 
whole laserOdometry time 12.563572 ms 
 
-----t: 0.0537954
OdomCount 1589 & avg odom time 0.044902 ms ++++++++++++++++++++++
mapping solver time 34.540966 ms 
filter time 9.136920 ms 
map prepare time 4.417376 ms
map corner num 92428  surf num 42429 
sort q time 7.116762 
seperate points time 13.373801 
publication time 9.467022 ms 
whole laserOdometry time 9.480168 ms 
 
mapping data assosiation time 33.003735 ms 
-----t: 0.0628744
OdomCount 1590 & avg odom time 0.044913 ms ++++++++++++++++++++++
1317357927.107431888 WriteOdom laser_odom_to_init
1317357927.107431888 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.016390 ms 
points size 103988 
sort q time 6.598351 
seperate points time 12.837252 
scan registration time 29.984014 ms *************
mapping data assosiation time 35.038883 ms 
publication time 9.992944 ms 
whole laserOdometry time 10.009158 ms 
 
1317357927.211663007 WriteOdom laser_odom_to_init
filter time 10.373017 ms 
map prepare time 2.935104 ms
map corner num 93068  surf num 42660 
build tree time 21.043265 ms 
points size 103808 
mapping data assosiation time 32.140531 ms 
publication time 7.679522 ms 
whole laserOdometry time 7.695440 ms 
 
-----t: 0.0477734
OdomCount 1592 & avg odom time 0.044916 ms ++++++++++++++++++++++
1317357927.315917015 WriteOdom laser_odom_to_init
1317357927.315917015 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.804125 ms 
--------------------stamp1317357927.420147895
points size 103366 
filter time 7.960128 ms 
scan registration time 34.222366 ms *************
publication time 9.297301 ms 
whole laserOdometry time 9.320845 ms 
 
-----t: 0.0509634
OdomCount 1593 & avg odom time 0.044920 ms ++++++++++++++++++++++
1317357927.420147895 WriteOdom laser_odom_to_init
1317357927.420147895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.545322 ms 
--------------------stamp1317357927.524332046
sort q time 8.168262 
seperate points time 14.125144 
publication time 15.952136 ms 
whole laserOdometry time 15.964133 ms 
 
mapping data assosiation time 34.479475 ms 
-----t: 0.0645256
OdomCount 1594 & avg odom time 0.044932 ms ++++++++++++++++++++++
--------------------stamp1317357927.628490924
points size 103040 
drop lidar frame in mapping for real time performance 
build tree time 27.179150 ms 
mapping data assosiation time 35.836030 ms 
--------------------stamp1317357927.732626914
points size 102716 
sort q time 5.644816 
seperate points time 13.424143 
mapping data assosiation time 39.541559 ms 
mapping solver time 21.721856 ms 
mapping optimization time 154.474973 
add points time 1.012486 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357927.836690902
points size 102205 
scan registration time 33.800084 ms *************
mapping data assosiation time 32.792658 ms 
-----t: 0.0600864
OdomCount 1597 & avg odom time 0.044944 ms ++++++++++++++++++++++
--------------------stamp1317357927.940754890
prepare time 11.846974 
mapping solver time 21.317676 ms 
filter time 9.302734 ms 
map prepare time 3.475006 ms
map corner num 95943  surf num 43975 
publication time 8.968464 ms 
whole laserOdometry time 8.984507 ms 
 
build tree time 25.590218 ms 
mapping data assosiation time 25.673528 ms 
--------------------stamp1317357928.044807910
mapping solver time 39.057105 ms 
publication time 9.625369 ms 
whole laserOdometry time 9.640488 ms 
 
-----t: 0.0445721
OdomCount 1599 & avg odom time 0.044949 ms ++++++++++++++++++++++
1317357928.044807910 WriteOdom laser_odom_to_init
1317357928.044807910 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.140206 ms 
mapping solver time 26.270001 ms 
filter time 7.092402 ms 
map prepare time 4.457097 ms
map corner num 96642  surf num 44273 
sort q time 5.498127 
seperate points time 12.177839 
publication time 9.368127 ms 
whole laserOdometry time 9.382180 ms 
 
-----t: 0.044412
OdomCount 1600 & avg odom time 0.044949 ms ++++++++++++++++++++++
mapping solver time 32.282344 ms 
--------------------stamp1317357928.252701044
points size 98691 
sort q time 5.488454 
seperate points time 12.574843 
publication time 8.834942 ms 
whole laserOdometry time 8.851082 ms 
 
-----t: 0.0434316
OdomCount 1601 & avg odom time 0.044948 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 22.451941 ms 
points size 97296 
mapping data assosiation time 31.883926 ms 
publication time 8.778118 ms 
whole laserOdometry time 8.804773 ms 
 
-----t: 0.0623547
OdomCount 1602 & avg odom time 0.044959 ms ++++++++++++++++++++++
mapping data assosiation time 32.246316 ms 
--------------------stamp1317357928.460442066
prepare time 11.438272 
sort q time 6.276771 
seperate points time 12.216307 
map prepare time 3.883023 ms
map corner num 97932  surf num 44769 
publication time 10.157600 ms 
whole laserOdometry time 10.174069 ms 
 
build tree time 29.735200 ms 
mapping data assosiation time 27.157013 ms 
--------------------stamp1317357928.564266920
prepare time 9.988538 
mapping solver time 37.925648 ms 
scan registration time 42.565455 ms *************
publication time 9.559890 ms 
whole laserOdometry time 9.574321 ms 
 
-----t: 0.0570225
OdomCount 1604 & avg odom time 0.044971 ms ++++++++++++++++++++++
mapping solver time 30.118515 ms 
--------------------stamp1317357928.668061971
sort q time 5.747943 
seperate points time 12.561909 
publication time 11.250342 ms 
whole laserOdometry time 11.346110 ms -----t: 0.0529216
OdomCount 1605 & avg odom time 0.044976 ms ++++++++++++++++++++++
1317357928.668061971 WriteOdom laser_odom_to_init
1317357928.668061971 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.603517 ms 
mapping solver time 25.211289 ms 
points size 92352 
sort q time 5.147877 
seperate points time 11.363681 
publication time 9.747364 ms 
whole laserOdometry time 9.762132 ms 
 
mapping solver time 26.017494 ms 
filter time 11.340352 ms 
build tree time 21.531295 ms 
points size 91349 
sort q time 5.441117 
seperate points time 11.013351 
publication time 8.807948 ms 
whole laserOdometry time 8.821859 ms 
 
mapping solver time 35.520446 ms 
mapping data assosiation time 27.671918 ms 
--------------------stamp1317357928.979337930
points size 90668 
sort q time 5.037222 
seperate points time 11.334457 
map prepare time 3.377335 ms
map corner num 100033  surf num 45547 
publication time 8.517165 ms 
whole laserOdometry time 8.530837 ms 
 
build tree time 28.606981 ms 
mapping data assosiation time 25.693546 ms 
--------------------stamp1317357929.083065986
mapping solver time 32.203582 ms 
publication time 8.210480 ms 
whole laserOdometry time 8.228440 ms 
 
1317357929.083065986 WriteOdom laser_odom_to_init
mapping solver time 25.102362 ms 
mapping optimization time 143.332274 
add points time 1.005639 ms
mapping pub time 3.810789 ms 
whole mapping time 159.711524 ms +++++
mappingCount 1136 & avg mapping time 141.938519 ms ++++++++++++++++++++++
--------------------stamp1317357929.186768054
sort q time 4.827279 
seperate points time 10.600590 
scan registration time 22.915941 ms *************
publication time 8.269095 ms 
whole laserOdometry time 8.284363 ms 
 
-----t: 0.0443589
OdomCount 1610 & avg odom time 0.044977 ms ++++++++++++++++++++++
mapping solver time 28.011272 ms 
--------------------stamp1317357929.290468931
sort q time 5.464908 
seperate points time 11.089752 
mapping solver time 22.176422 ms 
scan registration time 21.613235 ms *************
mapping optimization time 137.645428 
add points time 1.610366 ms
map prepare time 4.579089 ms
map corner num 101542  surf num 46047 
-----t: 0.0497828
OdomCount 1611 & avg odom time 0.044980 ms ++++++++++++++++++++++
build tree time 28.395761 ms 
mapping data assosiation time 23.993749 ms 
points size 92286 
sort q time 5.706197 
seperate points time 12.242596 
scan registration time 24.081563 ms *************
mapping solver time 38.519534 ms 
publication time 9.341625 ms 
whole laserOdometry time 9.354095 ms 
 
mapping data assosiation time 31.237711 ms 
mapping solver time 22.495424 ms 
filter time 8.183947 ms 
prepare time 8.867925 
sort q time 6.215369 
seperate points time 12.063123 
publication time 11.202181 ms 
whole laserOdometry time 11.219949 ms 
 
mapping data assosiation time 31.547201 ms 
-----t: 0.0754711
OdomCount 1613 & avg odom time 0.045000 ms ++++++++++++++++++++++
1317357929.497755050 WriteOdom laser_odom_to_init
1317357929.497755050 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.378483 ms 
points size 96371 
mapping data assosiation time 27.850370 ms 
publication time 9.452671 ms 
whole laserOdometry time 9.467423 ms 
 
mapping optimization time 154.955927 
drop lidar frame in mapping for real time performance 
build tree time 22.763521 ms 
--------------------stamp1317357929.705064058
points size 98280 
mapping data assosiation time 26.010617 ms 
scan registration time 28.231351 ms *************
publication time 7.911222 ms 
whole laserOdometry time 7.925563 ms 
 
mapping solver time 44.074198 ms 
-----t: 0.0487355
OdomCount 1615 & avg odom time 0.045007 ms ++++++++++++++++++++++
1317357929.705064058 WriteOdom laser_odom_to_init
1317357929.705064058 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.940456 ms 
--------------------stamp1317357929.808721065
points size 99483 
prepare time 11.775007 
mapping solver time 29.421427 ms 
mapping optimization time 148.902691 
add points time 0.994528 ms
filter time 11.404825 ms 
publication time 8.783326 ms 
whole laserOdometry time 8.798053 ms 
 
build tree time 28.464149 ms 
mapping data assosiation time 22.645170 ms 
--------------------stamp1317357929.912424087
points size 100330 
sort q time 6.142590 
seperate points time 11.878521 
publication time 8.988368 ms 
whole laserOdometry time 9.001784 ms 
 
mapping solver time 29.552503 ms 
filter time 8.110559 ms 
--------------------stamp1317357930.016149997
prepare time 14.009628 
sort q time 5.867731 
seperate points time 13.722815 
publication time 9.803466 ms 
whole laserOdometry time 9.871712 ms 
 
build tree time 30.227424 ms 
mapping data assosiation time 22.441409 ms 
--------------------stamp1317357930.119853019
points size 94472 
sort q time 7.038569 
seperate points time 22.047479 
mapping data assosiation time 29.597824 ms 
publication time 9.087599 ms 
whole laserOdometry time 9.099412 ms 
 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357930.223556041
prepare time 11.819133 
sort q time 6.101906 
seperate points time 12.173540 
publication time 13.708091 ms 
whole laserOdometry time 13.724599 ms 
 
mapping solver time 28.002356 ms 
mapping data assosiation time 23.814006 ms 
prepare time 12.276080 
sort q time 5.588397 
seperate points time 12.903531 
filter time 8.679018 ms 
publication time 9.814407 ms 
whole laserOdometry time 9.828762 ms 
 
-----t: 0.0461804
OdomCount 1621 & avg odom time 0.045014 ms ++++++++++++++++++++++
build tree time 26.194586 ms 
mapping data assosiation time 19.940270 ms 
points size 90234 
mapping solver time 26.003726 ms 
publication time 6.915723 ms 
whole laserOdometry time 6.930560 ms 
-----t: 0.0412603
OdomCount 1622 & avg odom time 0.045012 ms ++++++++++++++++++++++
filter time 7.817073 ms 
build tree time 22.020264 ms 
prepare time 10.326256 
mapping data assosiation time 23.311774 ms 
sort q time 5.076362 
seperate points time 12.183166 
scan registration time 24.713123 ms *************
publication time 9.355266 ms 
whole laserOdometry time 9.367225 ms 
 
-----t: 0.0445773
OdomCount 1623 & avg odom time 0.045011 ms ++++++++++++++++++++++
mapping data assosiation time 22.205770 ms 
mapping solver time 20.582759 ms 
mapping optimization time 116.199129 
add points time 0.624263 ms
map prepare time 3.050254 ms
map corner num 107256  surf num 47716 
sort q time 6.105193 
seperate points time 11.234350 
publication time 7.292596 ms 
whole laserOdometry time 7.308593 ms 
 
-----t: 0.0426812
OdomCount 1624 & avg odom time 0.045010 ms ++++++++++++++++++++++
mapping solver time 18.085284 ms 
mapping data assosiation time 18.703366 ms 
points size 88844 
filter time 8.164646 ms 
map prepare time 3.168256 ms
map corner num 107757  surf num 47830 
publication time 8.066583 ms 
whole laserOdometry time 8.100149 ms 
 
-----t: 0.0460902
OdomCount 1625 & avg odom time 0.045011 ms ++++++++++++++++++++++
mapping data assosiation time 18.541391 ms 
mapping solver time 19.869965 ms 
points size 85321 
sort q time 4.902876 
seperate points time 10.191017 
mapping solver time 20.030662 ms 
filter time 10.625527 ms 
build tree time 25.204230 ms 
--------------------stamp1317357930.949594974
prepare time 9.608179 
sort q time 4.664261 
seperate points time 11.067039 
publication time 9.941437 ms 
whole laserOdometry time 9.955335 ms 
 
mapping solver time 14.746664 ms 
mapping optimization time 109.897127 
add points time 0.611481 ms
filter time 6.756199 ms 
--------------------stamp1317357931.053297996
build tree time 34.852970 ms 
mapping data assosiation time 23.532295 ms 
-----t: 0.0456609
OdomCount 1628 & avg odom time 0.045002 ms ++++++++++++++++++++++
mapping data assosiation time 20.505149 ms 
mapping solver time 15.809792 ms 
mapping pub time 1.981315 ms 
whole mapping time 142.810806 ms +++++
mappingCount 1149 & avg mapping time 142.042037 ms ++++++++++++++++++++++
publication time 8.370373 ms 
whole laserOdometry time 8.385012 ms 
 
-----t: 0.0421185
OdomCount 1629 & avg odom time 0.045000 ms ++++++++++++++++++++++
mapping data assosiation time 18.056502 ms 
--------------------stamp1317357931.260699987
points size 82772 
mapping data assosiation time 22.443285 ms 
sort q time 5.604682 
seperate points time 13.229237 
publication time 8.464049 ms 
whole laserOdometry time 8.475637 ms 
 
mapping solver time 19.082988 ms 
mapping pub time 2.005352 ms 
whole mapping time 145.925242 ms +++++
mappingCount 1150 & avg mapping time 142.045418 ms ++++++++++++++++++++++
1317357931.053297997 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 32.648684 ms 
--------------------stamp1317357931.364403963
mapping data assosiation time 18.170741 ms 
mapping solver time 20.255851 ms 
-----t: 0.0312365
OdomCount 1631 & avg odom time 0.044989 ms ++++++++++++++++++++++
1317357931.364403963 WriteOdom laser_odom_to_init
1317357931.364403963 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 13.174850 ms 
filter time 11.468013 ms 
map prepare time 3.380259 ms
map corner num 144454  surf num 66360 
--------------------stamp1317357931.468132019
sort q time 4.924073 
seperate points time 10.516911 
-----t: 0.0307985
OdomCount 1632 & avg odom time 0.044980 ms ++++++++++++++++++++++
mapping solver time 17.755925 ms 
mapping data assosiation time 17.767906 ms 
mapping solver time 15.145061 ms 
filter time 11.113761 ms 
scan registration time 24.575911 ms *************
-----t: 0.0382119
OdomCount 1633 & avg odom time 0.044976 ms ++++++++++++++++++++++
mapping data assosiation time 19.460057 ms 
mapping solver time 22.502500 ms 
points size 90013 
sort q time 5.806556 
seperate points time 12.066635 
scan registration time 23.242413 ms *************
publication time 9.148805 ms 
whole laserOdometry time 9.161198 ms 
 
mapping pub time 2.112509 ms 
whole mapping time 147.381977 ms +++++
mappingCount 1153 & avg mapping time 142.026286 ms ++++++++++++++++++++++
build tree time 32.388848 ms 
--------------------stamp1317357931.779241085
sort q time 4.688771 
seperate points time 9.822093 
publication time 11.101699 ms 
whole laserOdometry time 11.118068 ms 
 
-----t: 0.053391
OdomCount 1635 & avg odom time 0.044982 ms ++++++++++++++++++++++
mapping solver time 22.488995 ms 
mapping optimization time 122.382190 
add points time 0.615455 ms
map prepare time 2.755932 ms
map corner num 145809  surf num 66697 
points size 91797 
prepare time 9.060917 
build tree time 55.559854 ms 
-----t: 0.0535467
OdomCount 1636 & avg odom time 0.044987 ms ++++++++++++++++++++++
mapping solver time 20.835188 ms 
--------------------stamp1317357931.986673116
points size 92735 
sort q time 5.598940 
seperate points time 13.034259 
filter time 17.728340 ms 
build tree time 32.325288 ms 
--------------------stamp1317357932.090399026
points size 92163 
sort q time 5.365781 
seperate points time 11.604558 
mapping solver time 28.212587 ms 
-----t: 0.0447691
OdomCount 1638 & avg odom time 0.044988 ms ++++++++++++++++++++++
mapping solver time 12.579104 ms 
filter time 9.454372 ms 
map prepare time 2.918938 ms
map corner num 146691  surf num 66906 
points size 91968 
sort q time 5.665769 
seperate points time 13.082712 
build tree time 43.021630 ms 
publication time 9.399131 ms 
whole laserOdometry time 9.413189 ms 
 
mapping data assosiation time 22.537838 ms 
mapping solver time 17.723967 ms 
mapping data assosiation time 18.600287 ms 
points size 91576 
prepare time 12.741067 
mapping solver time 17.931565 ms 
mapping optimization time 120.946116 
add points time 0.723851 ms
filter time 15.322991 ms 
scan registration time 30.461738 ms *************
mapping pub time 2.456272 ms 
whole mapping time 142.430963 ms +++++
mappingCount 1157 & avg mapping time 142.045719 ms ++++++++++++++++++++++
1317357932.090399027 WriteOdom aft_mapped_to_init
publication time 9.713685 ms 
whole laserOdometry time 9.725671 ms 
 
build tree time 40.666096 ms 
mapping data assosiation time 18.659574 ms 
points size 92142 
mapping solver time 25.989799 ms 
sort q time 5.619330 
seperate points time 11.980574 
scan registration time 23.474501 ms *************
mapping data assosiation time 24.568743 ms 
-----t: 0.0540752
OdomCount 1641 & avg odom time 0.044993 ms ++++++++++++++++++++++
mapping pub time 2.165966 ms 
whole mapping time 147.295401 ms +++++
mappingCount 1158 & avg mapping time 142.050259 ms ++++++++++++++++++++++
--------------------stamp1317357932.505207061
build tree time 37.038262 ms 
mapping data assosiation time 23.871518 ms 
mapping solver time 23.889408 ms 
mapping data assosiation time 17.484685 ms 
mapping solver time 17.106453 ms 
points size 88809 
map prepare time 3.842947 ms
map corner num 148008  surf num 67233 
publication time 10.224319 ms 
whole laserOdometry time 10.303368 ms 
build tree time 41.254014 ms 
mapping data assosiation time 18.863961 ms 
mapping solver time 22.915129 ms 
points size 86544 
prepare time 10.026148 
mapping data assosiation time 20.075778 ms 
sort q time 4.926661 
seperate points time 11.438057 
mapping solver time 23.682875 ms 
filter time 12.289136 ms 
build tree time 33.333864 ms 
points size 84449 
sort q time 4.894000 
seperate points time 10.535456 
publication time 7.146614 ms 
whole laserOdometry time 7.156292 ms 
 
mapping data assosiation time 22.582535 ms 
mapping solver time 15.309008 ms 
filter time 9.891608 ms 
--------------------stamp1317357932.920283079
points size 83511 
sort q time 4.922317 
seperate points time 12.479074 
mapping pub time 59.921266 ms 
whole mapping time 193.012211 ms +++++
mappingCount 1161 & avg mapping time 142.097548 ms ++++++++++++++++++++++
-----t: 0.0479709
OdomCount 1646 & avg odom time 0.044996 ms ++++++++++++++++++++++
[0m[ INFO] [1718890015.902834673, 1317357933.005660405]: Received 216415 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890015.902869559, 1317357933.005660405]: Data saved to 1317357932608957.pcd[0m
build tree time 42.197913 ms 
points size 85030 
sort q time 5.790718 
seperate points time 11.908849 
mapping solver time 23.065091 ms 
-----t: 0.0427742
OdomCount 1647 & avg odom time 0.044995 ms ++++++++++++++++++++++
mapping solver time 16.861296 ms 
filter time 10.120065 ms 
map prepare time 2.723485 ms
map corner num 149461  surf num 67637 
points size 85574 
sort q time 4.876829 
seperate points time 11.834352 
publication time 8.203076 ms 
whole laserOdometry time 8.215975 ms 
 
mapping data assosiation time 23.846054 ms 
mapping solver time 23.244490 ms 
mapping data assosiation time 19.739982 ms 
points size 88261 
sort q time 5.459602 
seperate points time 10.935919 
publication time 11.618946 ms 
whole laserOdometry time 11.633903 ms 
 
-----t: 0.0450359
OdomCount 1649 & avg odom time 0.044996 ms ++++++++++++++++++++++
build tree time 43.997304 ms 
mapping data assosiation time 17.847267 ms 
prepare time 9.414508 
mapping solver time 26.324906 ms 
mapping data assosiation time 27.700553 ms 
mapping solver time 21.906650 ms 
filter time 10.338763 ms 
--------------------stamp1317357933.439276933
sort q time 5.356356 
seperate points time 12.066851 
publication time 8.825245 ms 
whole laserOdometry time 8.837759 ms 
 
-----t: 0.0420835
OdomCount 1651 & avg odom time 0.044991 ms ++++++++++++++++++++++
1317357933.439276933 WriteOdom laser_odom_to_init
1317357933.439276933 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.115413 ms 
mapping data assosiation time 19.740564 ms 
mapping solver time 21.520615 ms 
filter time 13.516128 ms 
publication time 9.245691 ms 
whole laserOdometry time 9.260394 ms 
 
build tree time 40.851556 ms 
mapping data assosiation time 18.690375 ms 
--------------------stamp1317357933.646922111
points size 83750 
prepare time 10.007131 
mapping data assosiation time 24.216037 ms 
mapping solver time 18.332110 ms 
filter time 10.442369 ms 
map prepare time 2.743689 ms
map corner num 151433  surf num 68165 
--------------------stamp1317357933.750745058
sort q time 5.427546 
seperate points time 11.109998 
publication time 9.816563 ms 
whole laserOdometry time 9.829612 ms 
 
-----t: 0.0414872
OdomCount 1654 & avg odom time 0.044981 ms ++++++++++++++++++++++
mapping data assosiation time 19.125295 ms 
mapping solver time 13.227190 ms 
filter time 10.363397 ms 
--------------------stamp1317357933.854569911
sort q time 4.995843 
seperate points time 9.983706 
publication time 9.398215 ms 
whole laserOdometry time 9.417406 ms 
 
build tree time 45.782878 ms 
-----t: 0.0500274
OdomCount 1655 & avg odom time 0.044984 ms ++++++++++++++++++++++
mapping data assosiation time 22.209513 ms 
mapping solver time 21.148213 ms 
mapping data assosiation time 23.643188 ms 
publication time 7.577093 ms 
whole laserOdometry time 7.586832 ms 
 
filter time 15.141616 ms 
mapping pub time 2.003693 ms 
whole mapping time 159.300361 ms +++++
mappingCount 1168 & avg mapping time 142.130656 ms ++++++++++++++++++++++
1317357933.750745058 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.800268 ms
map corner num 152327  surf num 68416 
build tree time 34.222125 ms 
points size 86405 
sort q time 5.039868 
seperate points time 11.004716 
mapping solver time 23.892733 ms 
-----t: 0.0383948
OdomCount 1657 & avg odom time 0.044977 ms ++++++++++++++++++++++
1317357934.062288045 WriteOdom laser_odom_to_init
1317357934.062288045 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.388651 ms 
filter time 9.902946 ms 
--------------------stamp1317357934.166157960
sort q time 5.380347 
seperate points time 11.350567 
scan registration time 21.706546 ms *************
build tree time 43.598699 ms 
-----t: 0.0397727
OdomCount 1658 & avg odom time 0.044973 ms ++++++++++++++++++++++
mapping solver time 16.687670 ms 
mapping data assosiation time 18.366139 ms 
points size 84173 
prepare time 8.215559 
mapping solver time 18.739671 ms 
mapping optimization time 122.761171 
add points time 0.748378 ms
filter time 14.944334 ms 
-----t: 0.0451173
OdomCount 1659 & avg odom time 0.044973 ms ++++++++++++++++++++++
build tree time 43.550229 ms 
mapping data assosiation time 17.097363 ms 
points size 82938 
mapping solver time 23.098644 ms 
publication time 10.239489 ms 
whole laserOdometry time 10.256085 ms 
 
-----t: 0.0404871
OdomCount 1660 & avg odom time 0.044971 ms ++++++++++++++++++++++
filter time 10.851299 ms 
map prepare time 2.829045 ms
map corner num 153654  surf num 68754 
--------------------stamp1317357934.477720022
build tree time 38.962275 ms 
publication time 7.762840 ms 
whole laserOdometry time 7.778291 ms 
 
-----t: 0.0384138
OdomCount 1661 & avg odom time 0.044967 ms ++++++++++++++++++++++
mapping data assosiation time 18.191484 ms 
mapping solver time 13.765220 ms 
filter time 10.940185 ms 
--------------------stamp1317357934.581592082
mapping pub time 2.424321 ms 
whole mapping time 131.747480 ms +++++
mappingCount 1172 & avg mapping time 142.119162 ms ++++++++++++++++++++++
1317357934.270028114 WriteOdom aft_mapped_to_init
points size 81351 
prepare time 7.943395 
map prepare time 3.652037 ms
map corner num 154013  surf num 68836 
publication time 8.312111 ms 
whole laserOdometry time 8.327314 ms 
 
-----t: 0.0366089
OdomCount 1662 & avg odom time 0.044962 ms ++++++++++++++++++++++
mapping data assosiation time 18.005258 ms 
mapping solver time 16.816597 ms 
--------------------stamp1317357934.685440063
sort q time 4.698248 
seperate points time 9.542688 
publication time 7.556029 ms 
whole laserOdometry time 7.569611 ms 
 
mapping pub time 2.114748 ms 
whole mapping time 141.029532 ms +++++
mappingCount 1173 & avg mapping time 142.118240 ms ++++++++++++++++++++++
-----t: 0.0423727
OdomCount 1663 & avg odom time 0.044960 ms ++++++++++++++++++++++
build tree time 37.470589 ms 
--------------------stamp1317357934.789263963
sort q time 4.951938 
seperate points time 10.504551 
scan registration time 20.590521 ms *************
mapping solver time 22.269958 ms 
publication time 7.671602 ms 
whole laserOdometry time 7.696396 ms 
 
-----t: 0.0442586
OdomCount 1664 & avg odom time 0.044960 ms ++++++++++++++++++++++
1317357934.789263963 WriteOdom laser_odom_to_init
1317357934.789263963 WriteOdom aft_mapped_to_init_high_frec
filter time 12.844357 ms 
--------------------stamp1317357934.893085002
sort q time 5.355745 
seperate points time 10.431180 
publication time 10.982896 ms 
whole laserOdometry time 10.997180 ms 
 
mapping solver time 22.618001 ms 
mapping data assosiation time 23.788108 ms 
points size 88050 
sort q time 9.497123 
seperate points time 17.191255 
map prepare time 4.094981 ms
map corner num 155542  surf num 69288 
publication time 9.791723 ms build tree time 41.389933 ms 
mapping data assosiation time 19.133274 ms 
prepare time 8.092056 
mapping solver time 22.034049 ms 
publication time 9.353445 ms 
whole laserOdometry time 9.368516 ms 
 
-----t: 0.0461248
OdomCount 1667 & avg odom time 0.044971 ms ++++++++++++++++++++++
mapping solver time 16.768107 ms 
mapping data assosiation time 24.393078 ms 
-----t: 0.0519621
OdomCount 1668 & avg odom time 0.044976 ms ++++++++++++++++++++++
publication time 8.669741 ms 
whole laserOdometry time 8.681803 ms 
 
mapping data assosiation time 20.357618 ms 
mapping solver time 17.356009 ms 
points size 91280 
mapping pub time 2.298692 ms 
whole mapping time 156.070246 ms +++++
mappingCount 1177 & avg mapping time 142.146265 ms ++++++++++++++++++++++
1317357934.996906996 WriteOdom aft_mapped_to_init
sort q time 5.579985 
seperate points time 23.542509 
scan registration time 37.189039 ms *************
map prepare time 4.272411 ms
map corner num 156610  surf num 69599 
publication time 11.764193 ms 
whole laserOdometry time 11.780129 ms 
 
-----t: 0.0551208
OdomCount 1669 & avg odom time 0.044982 ms ++++++++++++++++++++++
[0m[ INFO] [1718890018.300926495, 1317357935.402244224]: Received 225497 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890018.300955793, 1317357935.402244224]: Data saved to 1317357934893085.pcd[0m
--------------------stamp1317357935.412005901
sort q time 6.258336 
seperate points time 12.821090 
scan registration time 26.156831 ms *************
mapping solver time 25.568830 ms 
publication time 8.765665 ms 
whole laserOdometry time 8.780913 ms 
 
mapping data assosiation time 26.191214 ms 
-----t: 0.0387362
OdomCount 1670 & avg odom time 0.044978 ms ++++++++++++++++++++++
1317357935.412005901 WriteOdom laser_odom_to_init
1317357935.412005901 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.183688 ms 
filter time 10.157495 ms 
map prepare time 2.777041 ms
map corner num 157291  surf num 69899 
prepare time 11.097686 
build tree time 39.687841 ms 
sort q time 5.617881 
seperate points time 25.747038 
-----t: 0.0461851
OdomCount 1671 & avg odom time 0.044979 ms ++++++++++++++++++++++
mapping solver time 25.985354 ms 
mapping data assosiation time 21.386145 ms 
points size 91871 
sort q time 5.193345 
seperate points time 12.070645 
mapping pub time 2.322081 ms 
whole mapping time 156.500739 ms +++++
mappingCount 1179 & avg mapping time 142.169348 ms ++++++++++++++++++++++
-----t: 0.0436276
OdomCount 1672 & avg odom time 0.044978 ms ++++++++++++++++++++++
build tree time 40.464394 ms 
mapping data assosiation time 20.016512 ms 
sort q time 5.626820 
seperate points time 10.975119 
mapping solver time 28.218798 ms 
-----t: 0.0380044
OdomCount 1673 & avg odom time 0.044974 ms ++++++++++++++++++++++
mapping solver time 14.550315 ms 
filter time 10.229363 ms 
--------------------stamp1317357935.827033042
prepare time 10.521248 
sort q time 5.279024 
seperate points time 11.826996 
publication time 8.725307 ms 
whole laserOdometry time 8.741670 ms 
 
mapping data assosiation time 25.765303 ms 
-----t: 0.0474881
OdomCount 1674 & avg odom time 0.044975 ms ++++++++++++++++++++++
mapping solver time 21.086939 ms 
mapping data assosiation time 18.842786 ms 
--------------------stamp1317357935.930809020
sort q time 5.894252 
seperate points time 11.266721 
publication time 8.664522 ms 
whole laserOdometry time 8.696620 ms 
 
-----t: 0.0596743
OdomCount 1675 & avg odom time 0.044984 ms ++++++++++++++++++++++
mapping pub time 62.860476 ms 
whole mapping time 209.908069 ms +++++
mappingCount 1181 & avg mapping time 142.231715 ms ++++++++++++++++++++++
--------------------stamp1317357936.034581899
sort q time 5.171224 
seperate points time 11.704204 
scan registration time 23.934777 ms *************
-----t: 0.0404869
OdomCount 1676 & avg odom time 0.044981 ms ++++++++++++++++++++++
mapping solver time 17.565114 ms 
mapping data assosiation time 18.827326 ms 
mapping solver time 14.680902 ms 
mapping optimization time 122.614699 
points size 85614 
add points time 0.892123 ms
prepare time 9.833755 
mapping pub time 2.467725 ms 
whole mapping time 144.467504 ms +++++
mappingCount 1182 & avg mapping time 142.233611 ms ++++++++++++++++++++++
publication time 7.409737 ms 
whole laserOdometry time 7.425866 ms 
 
[0m[ INFO] [1718890019.096531101, 1317357936.193084656]: Received 229627 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890019.096574691, 1317357936.193084656]: Data saved to 1317357935619509.pcd[0m
-----t: 0.0504909
OdomCount 1677 & avg odom time 0.044984 ms ++++++++++++++++++++++
1317357936.138356924 WriteOdom laser_odom_to_init
1317357936.138356924 WriteOdom aft_mapped_to_init_high_frec
build tree time 47.141117 ms 
mapping data assosiation time 18.069889 ms 
points size 84616 
sort q time 4.640206 
seperate points time 9.710857 
publication time 6.433059 ms 
whole laserOdometry time 6.447389 ms 
 
mapping data assosiation time 24.170867 ms 
-----t: 0.0422399
OdomCount 1678 & avg odom time 0.044983 ms ++++++++++++++++++++++
mapping solver time 21.826685 ms 
filter time 10.446603 ms 
points size 82132 
sort q time 4.956404 
seperate points time 11.360103 
publication time 9.384435 ms 
whole laserOdometry time 9.398874 ms 
 
-----t: 0.0362859
OdomCount 1679 & avg odom time 0.044978 ms ++++++++++++++++++++++
mapping data assosiation time 25.034455 ms 
mapping solver time 23.727377 ms 
mapping data assosiation time 21.012534 ms 
points size 81105 
sort q time 4.543337 
seperate points time 10.937971 
map prepare time 4.261609 ms
map corner num 161004  surf num 71228 
-----t: 0.0434813
OdomCount 1680 & avg odom time 0.044977 ms ++++++++++++++++++++++
build tree time 43.099803 ms 
mapping data assosiation time 19.470247 ms 
points size 81625 
sort q time 4.612593 
seperate points time 10.926441 
mapping data assosiation time 25.155386 ms 
publication time 9.487456 ms 
whole laserOdometry time 9.501165 ms 
 
-----t: 0.0314229
OdomCount 1681 & avg odom time 0.044969 ms ++++++++++++++++++++++
1317357936.553672075 WriteOdom laser_odom_to_init
1317357936.553672075 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.115105 ms 
filter time 11.515473 ms 
--------------------stamp1317357936.657471895
points size 80619 
prepare time 9.689352 
build tree time 39.109334 ms 
mapping data assosiation time 21.629010 ms 
-----t: 0.0344056
OdomCount 1682 & avg odom time 0.044962 ms ++++++++++++++++++++++
1317357936.657471895 WriteOdom laser_odom_to_init
1317357936.657471895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.261181 ms 
mapping solver time 17.432746 ms 
filter time 12.364221 ms 
1317357936.449826002 WriteOdom aft_mapped_to_init
sort q time 12.096697 
seperate points time 27.744948 
publication time 5.851408 ms 
whole laserOdometry time 5.861884 ms 
 
build tree time 37.903237 ms 
mapping data assosiation time 18.208173 ms 
mapping solver time 16.524614 ms 
--------------------stamp1317357936.865093946
mapping data assosiation time 20.161829 ms 
sort q time 5.298328 
seperate points time 11.056821 
mapping solver time 22.663771 ms 
mapping optimization time 116.740176 
add points time 1.045368 ms
drop lidar frame in mapping for real time performance 
map prepare time 2.645479 ms
map corner num 139577  surf num 54958 
-----t: 0.0429257
OdomCount 1684 & avg odom time 0.044952 ms ++++++++++++++++++++++
1317357936.865093946 WriteOdom laser_odom_to_init
1317357936.865093946 WriteOdom aft_mapped_to_init_high_frec
build tree time 31.950924 ms 
--------------------stamp1317357936.968893051
sort q time 5.281201 
seperate points time 9.798286 
publication time 5.711527 ms 
whole laserOdometry time 5.726447 ms 
 
mapping data assosiation time 21.029546 ms 
mapping solver time 16.578285 ms 
mapping optimization time 109.399759 
filter time 12.539286 ms 
--------------------stamp1317357937.072691917
build tree time 35.812124 ms 
mapping data assosiation time 20.477409 ms 
1317357937.072691917 WriteOdom laser_odom_to_init
1317357937.072691917 WriteOdom aft_mapped_to_init_high_frec
publication time 7.565250 ms 
whole laserOdometry time 7.573734 ms 
 
mapping solver time 25.344233 ms 
mapping data assosiation time 17.396313 ms 
mapping solver time 13.397414 ms 
filter time 9.011781 ms 
map prepare time 4.301611 ms
map corner num 140518  surf num 55192 
sort q time 4.586974 
seperate points time 9.654976 
publication time 6.275614 ms 
whole laserOdometry time 6.289761 ms 
 
build tree time 39.768345 ms 
-----t: 0.0376821
OdomCount 1687 & avg odom time 0.044948 ms ++++++++++++++++++++++
mapping data assosiation time 20.193941 ms 
mapping data assosiation time 16.788418 ms 
--------------------stamp1317357937.280383110
scan registration time 16.726960 ms *************
map prepare time 3.034532 ms
map corner num 140971  surf num 55304 
build tree time 37.769295 ms 
mapping data assosiation time 18.001546 ms 
mapping solver time 15.869422 ms 
points size 62376 
publication time 5.734654 ms 
whole laserOdometry time 5.748250 ms 
 
-----t: 0.043306
OdomCount 1689 & avg odom time 0.044939 ms ++++++++++++++++++++++
build tree time 30.366853 ms 
mapping data assosiation time 17.493304 ms 
sort q time 3.544444 
seperate points time 8.659921 
mapping data assosiation time 20.777099 ms 
-----t: 0.0440967
OdomCount 1690 & avg odom time 0.044939 ms ++++++++++++++++++++++
filter time 9.368549 ms 
--------------------stamp1317357937.591923952
sort q time 4.558285 publication time 8.500520 ms 
whole laserOdometry time 8.515545 ms 
 
mapping solver time 27.453809 ms 
mapping data assosiation time 16.910994 ms 
mapping solver time 15.809917 ms 
filter time 9.471175 ms 
sort q time 4.335474 
seperate points time 8.681539 
publication time 9.065467 ms 
whole laserOdometry time 9.077773 ms 
 
-----t: 0.035518
OdomCount 1692 & avg odom time 0.044926 ms ++++++++++++++++++++++
mapping data assosiation time 18.896932 ms 
mapping solver time 22.625271 ms 
--------------------stamp1317357937.799665927
sort q time 4.198676 
seperate points time 10.102824 
scan registration time 21.577979 ms *************
mapping solver time 20.226218 ms 
mapping optimization time 120.840361 
map prepare time 4.115121 ms
map corner num 142771  surf num 55750 
build tree time 32.127777 ms 
mapping data assosiation time 17.611102 ms 
points size 72690 
sort q time 4.447985 
seperate points time 10.443659 
mapping data assosiation time 21.965786 ms 
mapping solver time 14.394016 ms 
filter time 12.254284 ms 
mapping pub time 1.814316 ms 
whole mapping time 124.419116 ms +++++
mappingCount 1195 & avg mapping time 142.170081 ms ++++++++++++++++++++++
1317357937.695795059 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.230152 ms
map corner num 143219  surf num 55851 
build tree time 33.206124 ms 
--------------------stamp1317357938.007409095
publication time 8.160857 ms 
whole laserOdometry time 8.200335 ms 
 
mapping data assosiation time 21.407406 ms 
mapping solver time 22.199844 ms 
mapping optimization time 124.924336 
add points time 0.761404 ms
-----t: 0.0727724
OdomCount 1695 & avg odom time 0.044941 ms ++++++++++++++++++++++
1317357938.007409095 WriteOdom laser_odom_to_init
1317357938.007409095 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 6.128130 ms 
whole mapping time 145.330366 ms +++++
mappingCount 1196 & avg mapping time 142.172729 ms ++++++++++++++++++++++
sort q time 4.562960 
seperate points time 11.395750 
publication time 8.075733 ms 
whole laserOdometry time 8.133112 ms 
 
build tree time 41.328786 ms 
-----t: 0.0492429
OdomCount 1696 & avg odom time 0.044944 ms ++++++++++++++++++++++
mapping solver time 23.009370 ms 
--------------------stamp1317357938.215173006
mapping data assosiation time 20.704863 ms 
mapping solver time 22.726703 ms 
filter time 16.976323 ms 
build tree time 34.565490 ms 
points size 83258 
sort q time 10.940333 
seperate points time 21.286170 
-----t: 0.0473946
OdomCount 1698 & avg odom time 0.044947 ms ++++++++++++++++++++++
mapping data assosiation time 23.652573 ms 
mapping solver time 14.279657 ms 
mapping optimization time 127.252449 
add points time 0.695689 ms
points size 86330 
sort q time 5.724670 
seperate points time 13.898437 
scan registration time 27.591685 ms *************
-----t: 0.0414525
OdomCount 1699 & avg odom time 0.044945 ms ++++++++++++++++++++++
mapping data assosiation time 20.279389 ms 
--------------------stamp1317357938.526881933
prepare time 10.406819 
sort q time 5.589085 
seperate points time 13.264398 
publication time 9.786397 ms 
whole laserOdometry time 9.800926 ms 
 
-----t: 0.0433623
OdomCount 1700 & avg odom time 0.044944 ms ++++++++++++++++++++++
[0m[ INFO] [1718890021.508433878, 1317357938.605271737]: Received 199626 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890021.508474366, 1317357938.605271737]: Data saved to 1317357937799665.pcd[0m
--------------------stamp1317357938.630822896
points size 93109 
sort q time 5.485148 
seperate points time 12.769961 
mapping data assosiation time 24.770004 ms 
-----t: 0.0440441
OdomCount 1701 & avg odom time 0.044943 ms ++++++++++++++++++++++
mapping data assosiation time 18.812267 ms 
mapping optimization time 127.839629 
prepare time 11.515072 
map prepare time 4.316600 ms
map corner num 177244  surf num 71150 
sort q time 6.301854 
seperate points time 27.124034 
scan registration time 41.694574 ms *************
publication time 12.350611 ms 
whole laserOdometry time 12.367611 ms 
 
-----t: 0.062085
OdomCount 1702 & avg odom time 0.044953 ms ++++++++++++++++++++++
build tree time 58.876302 ms 
points size 98117 
sort q time 6.451907 
seperate points time 24.272489 
publication time 10.624055 ms 
whole laserOdometry time 10.640093 ms 
 
mapping data assosiation time 30.526631 ms 
mapping solver time 18.402850 ms 
--------------------stamp1317357938.942676067
filter time 13.427784 ms 
points size 97584 
sort q time 7.091547 
seperate points time 16.306028 
publication time 10.491149 ms 
whole laserOdometry time 10.506317 ms 
 
-----t: 0.0449421
OdomCount 1704 & avg odom time 0.044951 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
prepare time 14.679100 
sort q time 6.596960 
seperate points time 16.227600 
publication time 9.733651 ms 
whole laserOdometry time 9.745674 ms 
 
mapping solver time 25.592684 ms 
mapping data assosiation time 21.954335 ms 
points size 95539 
sort q time 5.773828 
seperate points time 13.943950 
publication time 9.890253 ms 
whole laserOdometry time 9.906087 ms 
 
1317357939.150585889 WriteOdom laser_odom_to_init
1317357939.150585889 WriteOdom aft_mapped_to_init_high_frec
build tree time 44.774309 ms 
--------------------stamp1317357939.254580020
points size 95230 
sort q time 6.111073 
seperate points time 13.872260 
publication time 8.935656 ms 
whole laserOdometry time 8.949342 ms 
 
-----t: 0.0507905
OdomCount 1707 & avg odom time 0.044967 ms ++++++++++++++++++++++
mapping solver time 21.576775 ms 
filter time 12.222037 ms 
map prepare time 2.942066 ms
map corner num 178724  surf num 71604 
points size 95087 
[0m[ INFO] [1718890022.281319130, 1317357939.379212053]: Received 249088 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890022.281360930, 1317357939.379212053]: Data saved to 1317357938630822.pcd[0m
build tree time 47.116427 ms 
publication time 12.874606 ms 
whole laserOdometry time 12.891444 ms 
 
-----t: 0.0477822
OdomCount 1708 & avg odom time 0.044969 ms ++++++++++++++++++++++
mapping solver time 22.355996 ms 
--------------------stamp1317357939.462579965
prepare time 11.532974 
mapping solver time 20.572962 ms 
filter time 17.220974 ms 
build tree time 37.608650 ms 
--------------------stamp1317357939.566570997
mapping data assosiation time 20.435759 ms 
sort q time 5.534052 
seperate points time 13.055694 
publication time 10.591900 ms 
whole laserOdometry time 10.605307 ms 
 
mapping data assosiation time 30.751973 ms 
mapping solver time 22.993507 ms 
filter time 12.566919 ms 
mapping pub time 2.200389 ms 
whole mapping time 167.909608 ms +++++
mappingCount 1205 & avg mapping time 142.377974 ms ++++++++++++++++++++++
1317357939.358568907 WriteOdom aft_mapped_to_init
points size 93500 
prepare time 10.840899 
drop lidar frame in mapping for real time performance 
sort q time 5.636717 
seperate points time 13.559364 
scan registration time 26.965151 ms *************
-----t: 0.0399757
OdomCount 1711 & avg odom time 0.044956 ms ++++++++++++++++++++++
build tree time 51.684023 ms 
mapping data assosiation time 17.387361 ms 
mapping solver time 16.907635 ms 
points size 92013 
sort q time 8.224105 
seperate points time 16.570277 
-----t: 0.0375219
OdomCount 1712 & avg odom time 0.044952 ms ++++++++++++++++++++++
mapping pub time 8.624063 ms 
whole mapping time 157.294635 ms +++++
mappingCount 1206 & avg mapping time 142.390348 ms ++++++++++++++++++++++
--------------------stamp1317357939.878398895
prepare time 9.238142 
sort q time 6.098180 
seperate points time 12.570909 
publication time 7.842232 ms 
whole laserOdometry time 7.856978 ms 
 
-----t: 0.040804
OdomCount 1713 & avg odom time 0.044950 ms ++++++++++++++++++++++
mapping data assosiation time 17.783780 ms 
mapping solver time 17.768705 ms 
--------------------stamp1317357939.982299089
mapping pub time 2.205104 ms 
whole mapping time 149.482033 ms +++++
mappingCount 1207 & avg mapping time 142.396228 ms ++++++++++++++++++++++
sort q time 5.289431 
seperate points time 12.747055 
publication time 10.089908 ms 
whole laserOdometry time 10.102956 ms 
 
build tree time 50.621979 ms 
mapping data assosiation time 19.239122 ms 
--------------------stamp1317357940.086170911
sort q time 5.773481 
seperate points time 10.913126 
publication time 8.666981 ms 
whole laserOdometry time 8.681427 ms 
 
add points time 0.673558 ms
filter time 15.162598 ms 
--------------------stamp1317357940.190040111
points size 89618 
sort q time 5.532543 
seperate points time 13.454057 
mapping data assosiation time 22.689484 ms 
[0m[ INFO] [1718890023.147867911, 1317357940.242822578]: Received 252037 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890023.147904783, 1317357940.242822578]: Data saved to 1317357939462579.pcd[0m
mapping data assosiation time 17.713068 ms 
--------------------stamp1317357940.293910980
filter time 12.068482 ms 
map prepare time 6.060149 ms
map corner num 181561  surf num 72284 
publication time 10.746813 ms 
whole laserOdometry time 10.758687 ms 
 
-----t: 0.0478021
OdomCount 1717 & avg odom time 0.044963 ms ++++++++++++++++++++++
build tree time 47.935640 ms 
mapping data assosiation time 17.354244 ms 
--------------------stamp1317357940.397753953
points size 96308 
prepare time 9.790712 
mapping solver time 26.148192 ms 
mapping data assosiation time 23.339510 ms 
publication time 10.828341 ms 
whole laserOdometry time 10.847941 ms 
 
mapping solver time 23.831836 ms 
filter time 12.379905 ms 
--------------------stamp1317357940.501604080
points size 96987 
build tree time 43.039630 ms 
mapping data assosiation time 20.386084 ms 
mapping solver time 27.132160 ms 
mapping data assosiation time 17.018411 ms 
mapping solver time 12.708768 ms 
points size 96033 
prepare time 11.117849 
filter time 16.456013 ms 
mapping pub time 6.003121 ms 
whole mapping time 147.520375 ms +++++
mappingCount 1211 & avg mapping time 142.439940 ms ++++++++++++++++++++++
1317357940.293910980 WriteOdom aft_mapped_to_init
publication time 7.658175 ms 
whole laserOdometry time 7.671626 ms 
 
build tree time 46.565538 ms 
mapping data assosiation time 16.680434 ms 
--------------------stamp1317357940.709343910
points size 92395 
prepare time 18.264628 
publication time 8.917008 ms 
whole laserOdometry time 8.929844 ms 
 
-----t: 0.0419495
OdomCount 1721 & avg odom time 0.044956 ms ++++++++++++++++++++++
1317357940.709343910 WriteOdom laser_odom_to_init
1317357940.709343910 WriteOdom aft_mapped_to_init_high_frec
filter time 12.258504 ms 
--------------------stamp1317357940.813213109
points size 88120 
build tree time 40.044856 ms 
sort q time 6.442734 
seperate points time 12.108286 
publication time 7.650419 ms 
whole laserOdometry time 7.663483 ms 
 
mapping solver time 23.676200 ms 
mapping data assosiation time 19.937642 ms 
mapping solver time 14.193221 ms 
filter time 13.595990 ms 
sort q time 5.241083 
seperate points time 10.056593 
scan registration time 20.334041 ms *************
-----t: 0.0330393
OdomCount 1723 & avg odom time 0.044942 ms ++++++++++++++++++++++
build tree time 53.383361 ms 
mapping data assosiation time 18.576441 ms 
mapping solver time 21.509478 ms 
sort q time 4.529468 
seperate points time 9.073288 
publication time 5.712260 ms 
whole laserOdometry time 5.727624 ms 
 
filter time 15.950896 ms 
[0m[ INFO] [1718890024.012002458, 1317357941.105696039]: Received 254957 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890024.012039187, 1317357941.105696039]: Data saved to 1317357940293910.pcd[0m
--------------------stamp1317357941.124874114
sort q time 5.201738 
seperate points time 9.875740 
mapping data assosiation time 20.047706 ms 
mapping solver time 21.490002 ms 
mapping data assosiation time 20.832139 ms 
mapping solver time 17.413271 ms 
filter time 11.959153 ms 
points size 76764 
sort q time 5.715753 
seperate points time 11.716120 
publication time 10.963220 ms 
whole laserOdometry time 10.976339 ms 
 
build tree time 53.252076 ms 
mapping data assosiation time 16.243096 ms 
mapping solver time 15.402226 ms 
--------------------stamp1317357941.332638025
sort q time 4.106799 
seperate points time 9.905366 
mapping solver time 13.447736 ms 
mapping optimization time 119.907692 
scan registration time 21.659156 ms *************
add points time 0.870040 ms
publication time 8.062376 ms 
whole laserOdometry time 8.078772 ms 
 
mapping pub time 6.500507 ms 
whole mapping time 148.412782 ms +++++
mappingCount 1216 & avg mapping time 142.464197 ms ++++++++++++++++++++++
build tree time 41.944288 ms 
points size 74118 
sort q time 3.988888 
seperate points time 9.386430 
scan registration time 21.052589 ms *************
mapping data assosiation time 19.910438 ms 
mapping solver time 18.436434 ms 
filter time 11.529386 ms 
--------------------stamp1317357941.540380001
sort q time 4.440462 
seperate points time 9.023211 
scan registration time 19.579562 ms *************
-----t: 0.027051
OdomCount 1729 & avg odom time 0.044923 ms ++++++++++++++++++++++
mapping data assosiation time 17.967477 ms 
mapping solver time 18.812584 ms 
mapping data assosiation time 15.573323 ms 
--------------------stamp1317357941.644226074
sort q time 3.814298 
seperate points time 8.006858 
filter time 11.701531 ms 
scan registration time 18.106841 ms *************
mapping pub time 2.029855 ms 
whole mapping time 139.501507 ms +++++
mappingCount 1218 & avg mapping time 142.459136 ms ++++++++++++++++++++++
1317357941.436533928 WriteOdom aft_mapped_to_init
publication time 10.025904 ms 
whole laserOdometry time 10.036378 ms -----t: 0.0314521
OdomCount 1730 & avg odom time 0.044915 ms ++++++++++++++++++++++
build tree time 43.521751 ms 
mapping data assosiation time 16.706463 ms 
--------------------stamp1317357941.748073101
mapping solver time 22.206058 ms 
mapping data assosiation time 21.452676 ms 
-----t: 0.0355141
OdomCount 1731 & avg odom time 0.044910 ms ++++++++++++++++++++++
1317357941.748073101 WriteOdom laser_odom_to_init
1317357941.748073101 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.774330 ms 
mapping optimization time 121.743375 
add points time 0.662469 ms
filter time 16.379446 ms 
--------------------stamp1317357941.851870059
points size 75628 
prepare time 9.736989 
publication time 7.515201 ms 
whole laserOdometry time 7.532413 ms 
 
mapping data assosiation time 20.995158 ms 
mapping solver time 23.537067 ms 
mapping data assosiation time 17.283961 ms 
mapping solver time 16.512784 ms 
filter time 12.974067 ms 
map prepare time 2.974458 ms
map corner num 186300  surf num 73527 
publication time 7.312479 ms 
whole laserOdometry time 7.342969 ms 
 
-----t: 0.0369619
OdomCount 1733 & avg odom time 0.044898 ms ++++++++++++++++++++++
1317357941.955646991 WriteOdom laser_odom_to_init
1317357941.955646991 WriteOdom aft_mapped_to_init_high_frec
build tree time 54.321670 ms 
mapping data assosiation time 16.164050 ms 
--------------------stamp1317357942.059421062
sort q time 4.489324 
seperate points time 9.229988 
scan registration time 18.209215 ms *************
mapping data assosiation time 19.298163 ms 
mapping solver time 21.757371 ms 
mapping optimization time 132.966397 
add points time 0.608862 ms
filter time 15.496972 ms 
mapping pub time 38.034269 ms 
whole mapping time 190.132868 ms +++++
mappingCount 1221 & avg mapping time 142.502080 ms ++++++++++++++++++++++
points size 80256 
sort q time 5.012189 
seperate points time 10.828047 
publication time 7.117230 ms 
whole laserOdometry time 7.131751 ms 
 
-----t: 0.0463396
OdomCount 1735 & avg odom time 0.044892 ms ++++++++++++++++++++++
mapping solver time 16.822294 ms 
--------------------stamp1317357942.266926050
mapping data assosiation time 17.989502 ms 
prepare time 7.954521 
scan registration time 19.383956 ms *************
filter time 18.144837 ms 
-----t: 0.0379954
OdomCount 1736 & avg odom time 0.044888 ms ++++++++++++++++++++++
build tree time 45.342304 ms 
--------------------stamp1317357942.370721101
sort q time 4.617051 
seperate points time 9.982067 
publication time 6.993748 ms 
whole laserOdometry time 7.004993 ms 
 
-----t: 0.0469292
OdomCount 1737 & avg odom time 0.044889 ms ++++++++++++++++++++++
filter time 11.859380 ms 
--------------------stamp1317357942.474541902
points size 82056 
build tree time 47.516130 ms 
-----t: 0.0378741
OdomCount 1738 & avg odom time 0.044885 ms ++++++++++++++++++++++
mapping solver time 20.617775 ms 
mapping data assosiation time 15.549824 ms 
--------------------stamp1317357942.578366041
filter time 17.323238 ms 
publication time 7.865439 ms 
whole laserOdometry time 7.881969 ms 
 
-----t: 0.0352717
OdomCount 1739 & avg odom time 0.044879 ms ++++++++++++++++++++++
build tree time 46.968561 ms 
mapping data assosiation time 18.045662 ms 
--------------------stamp1317357942.682166099
mapping solver time 23.602072 ms 
mapping data assosiation time 21.616443 ms 
publication time 8.683332 ms 
whole laserOdometry time 8.701314 ms 
 
mapping solver time 22.627425 ms 
filter time 14.925874 ms 
mapping pub time 1.981808 ms 
whole mapping time 155.865165 ms +++++
mappingCount 1225 & avg mapping time 142.520077 ms ++++++++++++++++++++++
1317357942.474541903 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.879995 ms
map corner num 188590  surf num 74220 
--------------------stamp1317357942.785965919
prepare time 10.545778 
sort q time 5.032606 
seperate points time 11.753637 
build tree time 48.181333 ms 
scan registration time 28.070275 ms *************
mapping data assosiation time 23.010981 ms 
-----t: 0.045193
OdomCount 1741 & avg odom time 0.044882 ms ++++++++++++++++++++++
1317357942.785965919 WriteOdom laser_odom_to_init
1317357942.785965919 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.840099 ms 
mapping data assosiation time 17.266492 ms 
mapping solver time 12.980758 ms 
points size 84475 
map prepare time 3.933989 ms
map corner num 189038  surf num 74341 
scan registration time 36.139537 ms *************
-----t: 0.0358403
OdomCount 1742 & avg odom time 0.044877 ms ++++++++++++++++++++++
build tree time 49.147675 ms 
mapping data assosiation time 17.960930 ms 
--------------------stamp1317357942.993540048
mapping solver time 21.385287 ms 
mapping data assosiation time 20.540143 ms 
mapping solver time 16.915335 ms 
filter time 14.066620 ms 
mapping pub time 1.905140 ms 
whole mapping time 147.815373 ms +++++
mappingCount 1227 & avg mapping time 142.529185 ms ++++++++++++++++++++++
1317357942.785965919 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357943.097340106
points size 85634 
prepare time 10.040087 
build tree time 46.025124 ms 
publication time 9.279444 ms 
whole laserOdometry time 9.293669 ms 
 
mapping solver time 23.170316 ms 
mapping data assosiation time 21.127050 ms 
mapping solver time 16.671088 ms 
points size 86980 
map prepare time 4.435734 ms
map corner num 189983  surf num 74625 
publication time 8.413889 ms 
whole laserOdometry time 8.428139 ms 
 
-----t: 0.0466972
OdomCount 1745 & avg odom time 0.044880 ms ++++++++++++++++++++++
build tree time 51.861293 ms 
mapping data assosiation time 17.123996 ms 
--------------------stamp1317357943.304936885
publication time 8.672130 ms 
whole laserOdometry time 8.688480 ms 
 
-----t: 0.0422733
OdomCount 1746 & avg odom time 0.044878 ms ++++++++++++++++++++++
--------------------stamp1317357943.408760070
sort q time 5.347414 
seperate points time 10.959790 
publication time 6.644988 ms 
whole laserOdometry time 6.659200 ms 
 
mapping solver time 21.100999 ms 
-----t: 0.0438719
OdomCount 1747 & avg odom time 0.044877 ms ++++++++++++++++++++++
mapping data assosiation time 21.114382 ms 
mapping solver time 13.669035 ms 
filter time 13.662637 ms 
points size 90051 
sort q time 10.580137 
seperate points time 17.482667 
scan registration time 29.087941 ms *************
publication time 12.722924 ms 
whole laserOdometry time 12.736484 ms 
 
-----t: 0.0350546
OdomCount 1748 & avg odom time 0.044872 ms ++++++++++++++++++++++
mapping data assosiation time 20.633697 ms 
mapping solver time 17.854003 ms 
points size 91103 
sort q time 5.178402 
seperate points time 11.829737 
publication time 8.062746 ms 
whole laserOdometry time 8.076751 ms 
 
map prepare time 3.369385 ms
map corner num 191598  surf num 75108 
-----t: 0.0468052
OdomCount 1749 & avg odom time 0.044873 ms ++++++++++++++++++++++
1317357943.616477012 WriteOdom laser_odom_to_init
1317357943.616477012 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357943.720347881
sort q time 5.234274 
seperate points time 11.625743 
publication time 9.371621 ms 
whole laserOdometry time 9.385517 ms 
 
mapping solver time 26.657428 ms 
-----t: 0.0460739
OdomCount 1750 & avg odom time 0.044874 ms ++++++++++++++++++++++
mapping data assosiation time 20.670986 ms 
mapping solver time 16.906724 ms 
filter time 11.945035 ms 
points size 91297 
sort q time 5.572283 
seperate points time 12.694394 
publication time 11.337115 ms 
whole laserOdometry time 11.352291 ms 
 
mapping data assosiation time 18.268448 ms 
mapping solver time 20.614357 ms 
points size 91974 
mapping data assosiation time 22.138952 ms 
sort q time 5.482534 
seperate points time 12.047258 
scan registration time 23.048229 ms *************
mapping solver time 23.043680 ms 
-----t: 0.0432736
OdomCount 1752 & avg odom time 0.044870 ms ++++++++++++++++++++++
map prepare time 3.923275 ms
map corner num 192782  surf num 75502 
--------------------stamp1317357944.031981945
prepare time 10.927662 
sort q time 5.415856 
seperate points time 12.821928 
mapping data assosiation time 24.348708 ms 
publication time 13.179310 ms 
whole laserOdometry time 13.194988 ms 
 
mapping solver time 33.093397 ms 
mapping data assosiation time 23.990970 ms 
points size 94126 
sort q time 5.550210 
seperate points time 12.721967 
filter time 19.249925 ms 
publication time 10.236499 ms 
whole laserOdometry time 10.283211 ms 
 
build tree time 57.696362 ms 
points size 93688 
publication time 8.542407 ms 
whole laserOdometry time 8.558310 ms 
 
mapping data assosiation time 25.992851 ms 
-----t: 0.0715831
OdomCount 1755 & avg odom time 0.044881 ms ++++++++++++++++++++++
1317357944.239845037 WriteOdom laser_odom_to_init
1317357944.239845037 WriteOdom aft_mapped_to_init_high_frec
points size 93193 
map prepare time 4.396550 ms
map corner num 194176  surf num 76056 
publication time 10.086889 ms 
whole laserOdometry time 10.118341 ms 
 
build tree time 51.290512 ms 
points size 93447 
sort q time 5.482085 
seperate points time 12.853087 
publication time 9.876512 ms 
whole laserOdometry time 9.891787 ms 
 
mapping data assosiation time 26.121869 ms 
-----t: 0.0458332
OdomCount 1757 & avg odom time 0.044881 ms ++++++++++++++++++++++
1317357944.447731018 WriteOdom laser_odom_to_init
1317357944.447731018 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.034932 ms 
mapping optimization time 159.549419 
add points time 0.766354 ms
filter time 12.167094 ms 
--------------------stamp1317357944.551721096
sort q time 5.956348 
seperate points time 32.023577 
build tree time 61.793992 ms 
publication time 9.457602 ms 
whole laserOdometry time 9.531197 ms 
 
-----t: 0.0555517
OdomCount 1758 & avg odom time 0.044887 ms ++++++++++++++++++++++
1317357944.551721096 WriteOdom laser_odom_to_init
1317357944.551721096 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.631693 ms 
--------------------stamp1317357944.655689001
scan registration time 21.457270 ms *************
mapping data assosiation time 25.073479 ms 
-----t: 0.0389404
OdomCount 1759 & avg odom time 0.044884 ms ++++++++++++++++++++++
filter time 12.193222 ms 
map prepare time 3.149649 ms
map corner num 195802  surf num 76592 
--------------------stamp1317357944.759630918
points size 92484 
build tree time 46.296449 ms 
publication time 6.887048 ms 
whole laserOdometry time 6.904601 ms 
 
-----t: 0.0376547
OdomCount 1760 & avg odom time 0.044880 ms ++++++++++++++++++++++
mapping solver time 21.398831 ms 
--------------------stamp1317357944.863598108
points size 92597 
mapping solver time 24.371413 ms 
mapping pub time 2.315946 ms 
whole mapping time 174.129633 ms +++++
-----t: 0.049461
OdomCount 1761 & avg odom time 0.044882 ms ++++++++++++++++++++++
build tree time 46.078800 ms 
points size 91965 
sort q time 6.695364 
seperate points time 12.238815 
scan registration time 23.229297 ms *************
mapping solver time 35.306700 ms 
mapping data assosiation time 22.727813 ms 
mapping solver time 15.903813 ms 
--------------------stamp1317357945.071530103
prepare time 13.457900 
scan registration time 30.967695 ms *************
publication time 9.861558 ms 
whole laserOdometry time 9.891395 ms 
 
build tree time 54.655342 ms 
mapping data assosiation time 20.839294 ms 
--------------------stamp1317357945.175497055
points size 90909 
mapping solver time 20.417610 ms 
filter time 17.761788 ms 
--------------------stamp1317357945.279463052
prepare time 11.124204 
build tree time 47.591112 ms 
publication time 11.419475 ms 
whole laserOdometry time 11.434022 ms 
 
1317357945.279463052 WriteOdom laser_odom_to_init
1317357945.279463052 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.165217 ms 
mapping data assosiation time 18.212492 ms 
--------------------stamp1317357945.383407115
sort q time 5.393164 
seperate points time 11.365003 
publication time 9.250745 ms 
whole laserOdometry time 9.282302 ms 
 
-----t: 0.0475316
OdomCount 1766 & avg odom time 0.044882 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
points size 87489 
prepare time 12.853035 
sort q time 5.491316 
build tree time 51.995989 ms 
seperate points time 12.977587 
publication time 8.091784 ms 
whole laserOdometry time 8.106725 ms 
 
mapping solver time 24.461782 ms 
mapping data assosiation time 24.091987 ms 
points size 87463 
map prepare time 3.778914 ms
map corner num 201861  surf num 82930 
publication time 22.369344 ms 
whole laserOdometry time 22.383807 ms 
 
-----t: 0.0638389
OdomCount 1768 & avg odom time 0.044903 ms ++++++++++++++++++++++
build tree time 53.096012 ms 
--------------------stamp1317357945.695209026
sort q time 5.697800 
seperate points time 12.111724 
scan registration time 24.647998 ms *************
publication time 13.840799 ms 
whole laserOdometry time 13.854745 ms 
 
-----t: 0.0424463
OdomCount 1769 & avg odom time 0.044902 ms ++++++++++++++++++++++
mapping solver time 12.746859 ms 
mapping optimization time 137.020256 
add points time 0.505464 ms
mapping pub time 1.963171 ms 
whole mapping time 156.693617 ms +++++
mappingCount 1243 & avg mapping time 142.853388 ms ++++++++++++++++++++++
--------------------stamp1317357945.799127101
points size 91129 
sort q time 4.994882 
seperate points time 11.789430 
build tree time 55.178532 ms 
-----t: 0.0363198
OdomCount 1770 & avg odom time 0.044897 ms ++++++++++++++++++++++
mapping data assosiation time 20.333626 ms 
mapping solver time 18.148716 ms 
--------------------stamp1317357945.902998924mapping solver time 15.040403 ms 
mapping optimization time 129.895433 
mapping pub time 1.896798 ms 
whole mapping time 152.760075 ms +++++
mappingCount 1244 & avg mapping time 142.861355 ms ++++++++++++++++++++++
publication time 7.199466 ms 
whole laserOdometry time 7.212976 ms 
 
build tree time 45.946384 ms 
--------------------stamp1317357946.006820917
prepare time 10.120942 
sort q time 5.982987 
seperate points time 12.225867 
mapping solver time 19.844014 ms 
scan registration time 25.471525 ms *************
publication time 11.798606 ms 
whole laserOdometry time 11.812645 ms 
 
mapping solver time 13.017253 ms 
filter time 12.142599 ms 
--------------------stamp1317357946.110646009
sort q time 5.521274 
seperate points time 12.138516 
publication time 8.470886 ms 
whole laserOdometry time 8.499358 ms 
 
mapping data assosiation time 19.931907 ms 
-----t: 0.0348557
OdomCount 1773 & avg odom time 0.044886 ms ++++++++++++++++++++++
1317357946.110646009 WriteOdom laser_odom_to_init
1317357946.110646009 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.802010 ms 
mapping data assosiation time 19.830988 ms 
mapping solver time 14.751601 ms 
prepare time 11.560922 
sort q time 5.896513 
seperate points time 12.819467 
publication time 8.185854 ms 
whole laserOdometry time 8.199734 ms 
 
-----t: 0.0423301
OdomCount 1774 & avg odom time 0.044885 ms ++++++++++++++++++++++
build tree time 52.867087 ms 
--------------------stamp1317357946.318289995
points size 98869 
mapping solver time 24.274722 ms 
scan registration time 32.657575 ms *************
mapping data assosiation time 23.716760 ms 
mapping solver time 19.569751 ms 
filter time 12.976326 ms 
--------------------stamp1317357946.422091007points size 98092 
sort q time 5.580430 
seperate points time 12.927962 
build tree time 55.645270 ms 
publication time 8.686563 ms 
whole laserOdometry time 8.718524 ms 
 
1317357946.422091007 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.964360 ms 
--------------------stamp1317357946.525866031
prepare time 11.262414 
mapping solver time 20.079930 ms 
filter time 17.239225 ms 
-----t: 0.0490983
OdomCount 1777 & avg odom time 0.044888 ms ++++++++++++++++++++++
1317357946.525866031 WriteOdom laser_odom_to_init
1317357946.525866031 WriteOdom aft_mapped_to_init_high_frec
build tree time 32.618558 ms 
--------------------stamp1317357946.629642009
points size 98460 
mapping solver time 24.364439 ms 
publication time 9.160507 ms 
mapping solver time 17.982148 ms 
filter time 9.672819 ms 
--------------------stamp1317357946.733417034
prepare time 12.906110 
sort q time 5.743024 
seperate points time 12.169151 
build tree time 44.684325 ms 
scan registration time 30.294844 ms *************
publication time 8.246328 ms 
whole laserOdometry time 8.262829 ms 
 
1317357946.733417034 WriteOdom laser_odom_to_init
1317357946.733417034 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.810652 ms 
--------------------stamp1317357946.837188959
points size 98913 
map prepare time 3.261719 ms
map corner num 146043  surf num 59092 
scan registration time 43.484607 ms *************
publication time 6.224246 ms 
whole laserOdometry time 6.234274 ms 
 
build tree time 35.281955 ms 
mapping data assosiation time 21.080671 ms 
mapping solver time 15.068843 ms 
points size 99159 
mapping data assosiation time 23.018426 ms 
sort q time 5.793181 
seperate points time 13.150066 
filter time 13.220876 ms 
map prepare time 3.256105 ms
map corner num 146581  surf num 59359 
build tree time 33.581498 ms 
points size 97778 
sort q time 5.604948 
seperate points time 12.708510 
publication time 8.836841 ms 
whole laserOdometry time 8.850158 ms 
 
mapping solver time 18.832482 ms 
mapping optimization time 123.427638 
add points time 0.735332 ms
mapping pub time 2.149004 ms 
whole mapping time 139.560228 ms +++++
mappingCount 1252 & avg mapping time 142.890512 ms ++++++++++++++++++++++
--------------------stamp1317357947.148560047
points size 95672 
sort q time 5.741664 
seperate points time 13.522450 
publication time 10.085983 ms 
whole laserOdometry time 10.101481 ms 
 
-----t: 0.0455119
OdomCount 1783 & avg odom time 0.044870 ms ++++++++++++++++++++++
1317357947.148560047 WriteOdom laser_odom_to_init
1317357947.148560047 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.289284 ms 
mapping solver time 19.427814 ms 
--------------------stamp1317357947.252335071
points size 94096 
sort q time 5.138971 
seperate points time 12.043451 
filter time 12.458794 ms 
build tree time 32.852431 ms 
points size 92463 
sort q time 4.714690 
seperate points time 10.839826 
scan registration time 21.633235 ms *************
mapping solver time 21.225790 ms 
mapping data assosiation time 25.739246 ms 
mapping solver time 18.580396 ms 
filter time 11.763330 ms 
--------------------stamp1317357947.459884881
sort q time 5.211695 
seperate points time 10.942160 
publication time 9.207879 ms 
whole laserOdometry time 9.221691 ms 
 
mapping data assosiation time 26.245496 ms 
mapping solver time 21.729249 ms 
mapping data assosiation time 21.346187 ms 
points size 89651 
sort q time 5.463749 
seperate points time 11.319145 
publication time 8.607917 ms 
whole laserOdometry time 8.622900 ms 
 
-----t: 0.0492058
OdomCount 1787 & avg odom time 0.044874 ms ++++++++++++++++++++++
mapping data assosiation time 20.486579 ms 
--------------------stamp1317357947.667365074
points size 89688 
sort q time 4.750190 
seperate points time 10.224485 
mapping data assosiation time 26.714126 ms 
publication time 10.649609 ms 
whole laserOdometry time 10.681543 ms 
 
mapping solver time 18.978618 ms 
filter time 9.270377 ms 
--------------------stamp1317357947.771090030
prepare time 10.825473 
sort q time 5.369809 
seperate points time 11.172496 
[0m[ INFO] [1718890030.701823542, 1317357947.797795872]: Received 210085 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890030.701860415, 1317357947.797795872]: Data saved to 1317357947459884.pcd[0m
publication time 8.378071 ms 
whole laserOdometry time 8.391753 ms 
 
mapping solver time 26.096738 ms 
mapping data assosiation time 22.785516 ms 
--------------------stamp1317357947.874814033
points size 89963 
map prepare time 3.995784 ms
map corner num 150167  surf num 60808 
publication time 8.685412 ms 
whole laserOdometry time 8.697264 ms 
 
-----t: 0.0367641
OdomCount 1790 & avg odom time 0.044864 ms ++++++++++++++++++++++
build tree time 41.150821 ms 
mapping data assosiation time 22.079139 ms 
--------------------stamp1317357947.978518009
prepare time 11.492980 
mapping solver time 27.467795 ms 
publication time 8.522232 ms 
whole laserOdometry time 8.536476 ms 
 
-----t: 0.039905
OdomCount 1791 & avg odom time 0.044861 ms ++++++++++++++++++++++
mapping solver time 28.448362 ms 
filter time 9.603847 ms 
--------------------stamp1317357948.082196950
prepare time 11.929077 
build tree time 37.959147 ms 
sort q time 5.615574 
seperate points time 11.872910 
scan registration time 28.625409 ms *************
mapping data assosiation time 27.902446 ms 
mapping solver time 29.403717 ms 
--------------------stamp1317357948.185852050
prepare time 10.954288 
sort q time 5.549689 
seperate points time 12.537363 
mapping pub time 1.988632 ms 
whole mapping time 162.494261 ms +++++
mappingCount 1259 & avg mapping time 142.946275 ms ++++++++++++++++++++++
publication time 15.776706 ms 
whole laserOdometry time 15.790177 ms 
 
build tree time 35.862740 ms 
--------------------stamp1317357948.289484024
points size 95898 
sort q time 5.349510 
seperate points time 12.735963 
mapping solver time 33.897839 ms 
publication time 11.184956 ms 
whole laserOdometry time 11.208781 ms 
 
-----t: 0.0500202
OdomCount 1794 & avg odom time 0.044856 ms ++++++++++++++++++++++
mapping solver time 21.358636 ms 
mapping optimization time 143.616492 
add points time 0.712252 ms
map prepare time 4.844158 ms
map corner num 152296  surf num 61827 
sort q time 5.702516 
seperate points time 13.114147 
-----t: 0.0589654
OdomCount 1795 & avg odom time 0.044864 ms ++++++++++++++++++++++
1317357948.393090009 WriteOdom laser_odom_to_init
1317357948.393090009 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.200451 ms 
mapping solver time 22.853177 ms 
points size 100873 
prepare time 11.980995 
sort q time 5.915274 
seperate points time 12.883595 
publication time 8.181595 ms 
whole laserOdometry time 8.195499 ms 
 
filter time 10.618790 ms 
--------------------stamp1317357948.600352048
points size 101670 
1317357948.185852051 WriteOdom aft_mapped_to_initsort q time 5.896034 
seperate points time 14.766260 
publication time 10.801449 ms 
whole laserOdometry time 10.826429 ms 
 
-----t: 0.0458976
OdomCount 1797 & avg odom time 0.044866 ms ++++++++++++++++++++++
mapping data assosiation time 24.647440 ms 
--------------------stamp1317357948.704004049
points size 101961 
mapping solver time 33.884796 ms 
sort q time 6.319275 
seperate points time 14.697506 
mapping data assosiation time 30.772981 ms 
publication time 10.289092 ms 
whole laserOdometry time 10.718119 ms 
 
-----t: 0.0476971
OdomCount 1798 & avg odom time 0.044867 ms ++++++++++++++++++++++
1317357948.704004049 WriteOdom laser_odom_to_init
1317357948.704004049 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 153.638098 
filter time 10.124923 ms 
--------------------stamp1317357948.807660102
points size 102440 
prepare time 11.519608 
sort q time 5.367214 scan registration time 53.407079 ms *************
publication time 9.016104 ms 
whole laserOdometry time 9.029797 ms 
 
mapping solver time 31.428243 ms 
--------------------stamp1317357948.911365985
mapping data assosiation time 26.507507 ms 
sort q time 5.461725 
seperate points time 11.065541 
mapping solver time 26.476136 ms 
filter time 11.293930 ms 
-----t: 0.0579282
OdomCount 1800 & avg odom time 0.044879 ms ++++++++++++++++++++++
1317357948.911365985 WriteOdom laser_odom_to_init
1317357948.911365985 WriteOdom aft_mapped_to_init_high_frec
build tree time 37.162845 ms 
points size 103615 
mapping data assosiation time 28.411627 ms 
sort q time 5.137991 
seperate points time 21.536740 
mapping solver time 34.963085 ms 
-----t: 0.0537189
OdomCount 1801 & avg odom time 0.044884 ms ++++++++++++++++++++++
mapping data assosiation time 26.214177 ms 
--------------------stamp1317357949.118771076
points size 103865 
mapping pub time 2.395138 ms 
whole mapping time 171.624313 ms +++++
mappingCount 1264 & avg mapping time 143.089108 ms ++++++++++++++++++++++
scan registration time 31.262038 ms *************
publication time 9.833241 ms 
whole laserOdometry time 9.844956 ms 
 
build tree time 43.472207 ms 
mapping data assosiation time 29.638777 ms 
points size 103833 
mapping data assosiation time 31.585620 ms 
publication time 10.443283 ms 
whole laserOdometry time 10.456266 ms 
 
mapping solver time 25.609056 ms 
filter time 10.039466 ms 
--------------------stamp1317357949.326270103
points size 103636 
sort q time 6.034131 
seperate points time 14.058538 
publication time 8.913265 ms 
whole laserOdometry time 8.927553 ms 
 
-----t: 0.0460059
OdomCount 1804 & avg odom time 0.044894 ms ++++++++++++++++++++++
1317357949.326270103 WriteOdom laser_odom_to_init
1317357949.326270103 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.784458 ms 
--------------------stamp1317357949.430011034
points size 103614 
mapping data assosiation time 31.274877 ms 
publication time 7.738655 ms 
whole laserOdometry time 7.754283 ms 
 
[0m[ INFO] [1718890032.398857018, 1317357949.497030901]: Received 220245 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890032.398906706, 1317357949.497030901]: Data saved to 1317357949118771.pcd[0m
--------------------stamp1317357949.533739089
points size 103639 
sort q time 6.566352 
seperate points time 14.349998 
mapping data assosiation time 31.510208 ms 
-----t: 0.0480274
OdomCount 1806 & avg odom time 0.044902 ms ++++++++++++++++++++++
mapping data assosiation time 25.260873 ms 
--------------------stamp1317357949.637475013
prepare time 11.523185 
mapping solver time 32.745491 ms 
mapping optimization time 157.262886 
add points time 0.968702 ms
sort q time 8.578431 
seperate points time 25.154131 
map prepare time 4.581639 ms
map corner num 157223  surf num 64078 
publication time 11.049824 ms 
whole laserOdometry time 11.063506 ms 
 
-----t: 0.0557053
OdomCount 1807 & avg odom time 0.044908 ms ++++++++++++++++++++++
build tree time 37.659715 ms 
--------------------stamp1317357949.741225957
points size 103731 
sort q time 6.295259 
seperate points time 14.083800 
publication time 8.718496 ms 
whole laserOdometry time 8.744321 ms 
 
-----t: 0.052493
OdomCount 1808 & avg odom time 0.044912 ms ++++++++++++++++++++++
mapping solver time 20.509921 ms 
filter time 11.382101 ms 
sort q time 7.065692 
seperate points time 13.416143 
publication time 11.077195 ms 
whole laserOdometry time 11.094747 ms 
 
build tree time 41.010323 ms 
mapping data assosiation time 30.114956 ms 
--------------------stamp1317357949.948753118
prepare time 10.936252 
sort q time 6.300442 
seperate points time 13.459206 
mapping data assosiation time 34.009817 ms 
mapping solver time 20.361228 ms 
filter time 12.606221 ms 
map prepare time 4.357409 ms
map corner num 158416  surf num 64676 
--------------------stamp1317357950.052500963
prepare time 11.966498 
build tree time 40.345154 ms 
publication time 10.818499 ms 
whole laserOdometry time 10.834151 ms 
 
mapping solver time 23.558670 ms filter time 14.487794 ms 
map prepare time 4.156502 ms
map corner num 159052  surf num 64938 
-----t: 0.0722357
OdomCount 1812 & avg odom time 0.044936 ms ++++++++++++++++++++++
1317357950.156229019 WriteOdom laser_odom_to_init
1317357950.156229019 WriteOdom aft_mapped_to_init_high_frec
build tree time 41.335529 ms 
prepare time 11.634169 
sort q time 7.033611 
seperate points time 13.106940 
scan registration time 29.986529 ms *************
publication time 10.022487 ms 
whole laserOdometry time 10.038242 ms 
 
mapping solver time 35.269082 ms 
mapping data assosiation time 28.242138 ms 
points size 104020 
mapping solver time 23.803188 ms 
mapping optimization time 166.874267 
sort q time 6.024445 
seperate points time 12.448066 
add points time 0.775777 ms
[0m[ INFO] [1718890033.309186134, 1317357950.404566000]: Received 224838 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890033.309225518, 1317357950.404566000]: Data saved to 1317357950052500.pcd[0m
mapping pub time 7.613529 ms 
whole mapping time 194.445095 ms +++++
mappingCount 1271 & avg mapping time 143.287193 ms ++++++++++++++++++++++
1317357950.052500963 WriteOdom aft_mapped_to_init
publication time 10.384615 ms 
whole laserOdometry time 10.402346 ms 
 
map prepare time 4.361993 ms
map corner num 159650  surf num 65188 
build tree time 39.723536 ms 
points size 103923 
mapping data assosiation time 34.368043 ms 
scan registration time 38.585167 ms *************
mapping solver time 35.244131 ms 
publication time 10.714928 ms 
whole laserOdometry time 10.729816 ms 
 
mapping data assosiation time 32.132603 ms 
--------------------stamp1317357950.571186065
prepare time 11.412514 
sort q time 6.494541 
seperate points time 14.228237 
map prepare time 4.241951 ms
map corner num 160258  surf num 65437 
-----t: 0.0655825
OdomCount 1816 & avg odom time 0.044966 ms ++++++++++++++++++++++
--------------------stamp1317357950.674936056
prepare time 11.661985 
sort q time 5.841788 
seperate points time 11.840152 
mapping solver time 32.152085 ms 
publication time 9.966905 ms 
whole laserOdometry time 9.980292 ms 
 
mapping data assosiation time 31.538801 ms 
mapping solver time 21.769440 ms 
filter time 11.184567 ms 
map prepare time 3.590454 ms
map corner num 160791  surf num 65729 
sort q time 6.455682 
seperate points time 14.002203 
publication time 9.190334 ms 
whole laserOdometry time 9.218987 ms 
 
-----t: 0.0515536
OdomCount 1818 & avg odom time 0.044977 ms ++++++++++++++++++++++
1317357950.778733015 WriteOdom laser_odom_to_init
1317357950.778733015 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.047926 ms 
--------------------stamp1317357950.882580041
points size 104033 
mapping solver time 35.972810 ms 
scan registration time 30.934330 ms *************
publication time 9.672567 ms 
whole laserOdometry time 9.683265 ms 
 
-----t: 0.0521249
OdomCount 1819 & avg odom time 0.044981 ms ++++++++++++++++++++++
mapping solver time 27.302988 ms 
mapping optimization time 174.672476 
add points time 0.780058 ms
mapping pub time 2.393120 ms 
whole mapping time 191.972519 ms +++++
mappingCount 1274 & avg mapping time 143.390030 ms ++++++++++++++++++++++
points size 104223 
prepare time 11.798402 
sort q time 6.320830 
seperate points time 13.472414 
build tree time 40.383057 ms 
publication time 10.279586 ms 
whole laserOdometry time 10.294128 ms 
 
mapping data assosiation time 34.063999 ms 
-----t: 0.059564
OdomCount 1820 & avg odom time 0.044989 ms ++++++++++++++++++++++
--------------------stamp1317357951.090418100
prepare time 11.447577 
sort q time 6.308094 
seperate points time 13.115004 
scan registration time 29.850923 ms *************
publication time 10.866112 ms 
whole laserOdometry time 10.877570 ms 
 
mapping solver time 27.097060 ms 
mapping optimization time 164.912042 
add points time 0.718470 ms
filter time 15.038052 ms 
map prepare time 3.402152 ms
map corner num 161995  surf num 66221 
--------------------stamp1317357951.194360971
points size 104253 
build tree time 38.504061 ms 
publication time 9.841384 ms 
whole laserOdometry time 9.858609 ms 
 
-----t: 0.0630516
OdomCount 1822 & avg odom time 0.045005 ms ++++++++++++++++++++++
mapping solver time 34.986982 ms 
--------------------stamp1317357951.298304080
points size 104303 
mapping data assosiation time 31.282558 ms 
scan registration time 33.133506 ms *************
publication time 8.885956 ms 
whole laserOdometry time 8.899550 ms 
 
filter time 11.060445 ms 
[0m[ INFO] [1718890034.270702394, 1317357951.370413624]: Received 229178 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 5.444016 ms 
whole mapping time 197.629859 ms +++++
mappingCount 1276 & avg mapping time 143.467239 ms ++++++++++++++++++++++
[0m[ INFO] [1718890034.270756575, 1317357951.370413624]: Data saved to 1317357950986474.pcd[0m
1317357950.986474991 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357951.402296066
points size 104371 
sort q time 5.878429 
seperate points time 14.190376 
mapping data assosiation time 33.559773 ms 
-----t: 0.049246
OdomCount 1824 & avg odom time 0.045005 ms ++++++++++++++++++++++
mapping solver time 33.275324 ms 
--------------------stamp1317357951.506283998
points size 102713 
mapping data assosiation time 31.095400 ms 
prepare time 12.973592 
scan registration time 33.021353 ms *************
filter time 14.586834 ms 
map prepare time 3.981468 ms
map corner num 163340  surf num 66755 
-----t: 0.0551405
OdomCount 1825 & avg odom time 0.045011 ms ++++++++++++++++++++++
1317357951.506283998 WriteOdom laser_odom_to_init
1317357951.506283998 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357951.610253095
sort q time 5.717214 
seperate points time 11.789590 
scan registration time 42.059057 ms *************
mapping solver time 30.587160 ms 
-----t: 0.0603444
OdomCount 1826 & avg odom time 0.045019 ms ++++++++++++++++++++++
mapping data assosiation time 28.338202 ms 
--------------------stamp1317357951.714268922
points size 100837 
mapping pub time 2.556306 ms 
whole mapping time 168.720651 ms +++++
mappingCount 1278 & avg mapping time 143.520859 ms ++++++++++++++++++++++
scan registration time 32.747441 ms *************
publication time 10.740597 ms 
whole laserOdometry time 10.754911 ms 
 
1317357951.714268922 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.337211 ms 
points size 99972 
sort q time 6.731297 
seperate points time 13.733940 
mapping solver time 35.611493 ms 
scan registration time 30.637964 ms *************
publication time 8.447236 ms 
whole laserOdometry time 8.461383 ms 
 
1317357951.818305969 WriteOdom laser_odom_to_init
1317357951.818305969 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.905663 ms 
mapping optimization time 155.995706 
add points time 0.957652 ms
mapping pub time 2.306654 ms 
whole mapping time 174.073499 ms +++++
mappingCount 1279 & avg mapping time 143.544750 ms ++++++++++++++++++++++
points size 100308 
sort q time 5.376490 
seperate points time 12.292809 
build tree time 45.841232 ms 
-----t: 0.0486269
OdomCount 1829 & avg odom time 0.045025 ms ++++++++++++++++++++++
1317357951.922367095 WriteOdom laser_odom_to_init
1317357951.922367095 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.776415 ms 
mapping solver time 27.804666 ms 
points size 100707 
mapping data assosiation time 32.250403 ms 
sort q time 6.237221 
seperate points time 15.949263 
scan registration time 36.682209 ms *************
mapping solver time 21.076426 ms 
publication time 10.996009 ms 
whole laserOdometry time 11.010630 ms 
 
map prepare time 3.930469 ms
map corner num 165294  surf num 67418 
--------------------stamp1317357952.130589008
points size 101096 
sort q time 5.795451 
seperate points time 13.535387 
scan registration time 29.551775 ms *************
publication time 8.231161 ms 
whole laserOdometry time 8.243951 ms 
 
-----t: 0.0554142
OdomCount 1831 & avg odom time 0.045043 ms ++++++++++++++++++++++
mapping data assosiation time 26.615059 ms 
points size 101116 
sort q time 6.114490 
seperate points time 14.243467 
mapping optimization time 166.380425 
publication time 8.592276 ms 
whole laserOdometry time 8.626068 ms 
 
-----t: 0.0614137
OdomCount 1832 & avg odom time 0.045052 ms ++++++++++++++++++++++
--------------------stamp1317357952.338882923
prepare time 11.328875 
sort q time 5.912392 
seperate points time 12.854614 
build tree time 41.502600 ms 
mapping data assosiation time 27.764680 ms 
--------------------stamp1317357952.443017959
prepare time 11.562253 
sort q time 6.889211 
seperate points time 13.720078 
publication time 7.080916 ms 
whole laserOdometry time 7.094401 ms 
 
-----t: 0.0480836
OdomCount 1834 & avg odom time 0.045053 ms ++++++++++++++++++++++
1317357952.443017959 WriteOdom laser_odom_to_init
1317357952.443017959 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.901457 ms 
mapping optimization time 165.008708 
add points time 1.005978 ms
filter time 11.091354 ms 
mapping pub time 2.391873 ms 
whole mapping time 183.426509 ms +++++
mappingCount 1282 & avg mapping time 143.682958 ms ++++++++++++++++++++++
1317357952.130589008 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357952.547152996
prepare time 10.608083 
sort q time 6.421018 
seperate points time 12.835628 
publication time 10.864141 ms 
whole laserOdometry time 10.878614 ms 
 
mapping data assosiation time 28.650536 ms 
mapping solver time 28.025707 ms 
--------------------stamp1317357952.651335954
points size 99741 
prepare time 12.146356 
scan registration time 30.686352 ms *************
filter time 15.451750 ms 
build tree time 35.545693 ms 
points size 98964 
mapping data assosiation time 28.677694 ms 
publication time 8.309561 ms 
whole laserOdometry time 8.324805 ms 
 
mapping solver time 34.431180 ms 
-----t: 0.0663632
OdomCount 1837 & avg odom time 0.045065 ms ++++++++++++++++++++++
--------------------stamp1317357952.859747886
prepare time 11.350871 
sort q time 5.838255 
seperate points time 13.046335 
publication time 8.123413 ms 
whole laserOdometry time 8.165329 ms 
 
build tree time 41.642656 ms 
mapping data assosiation time 26.006782 ms 
points size 99765 
sort q time 6.106842 
seperate points time 13.436828 
mapping data assosiation time 28.728876 ms 
mapping solver time 28.765211 ms 
filter time 13.200715 ms 
prepare time 10.969349 
sort q time 6.173610 
seperate points time 12.205196 
scan registration time 28.408548 ms *************
publication time 7.506466 ms 
whole laserOdometry time 7.520316 ms 
 
mapping data assosiation time 28.316914 ms 
-----t: 0.0761499
OdomCount 1840 & avg odom time 0.045101 ms ++++++++++++++++++++++
1317357953.068281888 WriteOdom laser_odom_to_init
1317357953.068281888 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357953.172537088
mapping solver time 30.778464 ms 
sort q time 6.657012 
seperate points time 13.665389 
mapping data assosiation time 28.657010 ms 
-----t: 0.0482945
OdomCount 1841 & avg odom time 0.045102 ms ++++++++++++++++++++++
1317357953.172537088 WriteOdom laser_odom_to_init
1317357953.172537088 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.916009 ms 
mapping optimization time 161.769982 
add points time 0.953189 ms
mapping pub time 5.402584 ms 
whole mapping time 182.947763 ms +++++
mappingCount 1286 & avg mapping time 143.793549 ms ++++++++++++++++++++++
[0m[ INFO] [1718890036.155026624, 1317357953.255354667]: Received 237901 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890036.155087140, 1317357953.255354667]: Data saved to 1317357952859747.pcd[0m
1317357952.859747887 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.295945 ms
map corner num 169327  surf num 68574 
--------------------stamp1317357953.276767969
prepare time 13.909325 
sort q time 6.065052 
seperate points time 12.182934 
mapping data assosiation time 29.436100 ms 
-----t: 0.06026
OdomCount 1842 & avg odom time 0.045111 ms ++++++++++++++++++++++
1317357953.276767969 WriteOdom laser_odom_to_init
1317357953.276767969 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357953.380975961
points size 100252 
sort q time 5.412153 
seperate points time 13.439162 
mapping solver time 26.604888 ms 
filter time 15.737197 ms 
build tree time 35.530933 ms 
points size 100311 
prepare time 15.463885 
scan registration time 35.870422 ms *************
publication time 8.954684 ms 
whole laserOdometry time 8.969633 ms 
 
-----t: 0.0539629
OdomCount 1844 & avg odom time 0.045116 ms ++++++++++++++++++++++
mapping data assosiation time 24.263021 ms 
--------------------stamp1317357953.589361906
prepare time 12.841519 
scan registration time 30.695270 ms *************
publication time 12.302070 ms 
whole laserOdometry time 12.310888 ms 
 
build tree time 42.792343 ms 
-----t: 0.0627561
OdomCount 1845 & avg odom time 0.045126 ms ++++++++++++++++++++++
1317357953.589361906 WriteOdom laser_odom_to_init
1317357953.589361906 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.251133 ms 
--------------------stamp1317357953.693496942
points size 101110 
sort q time 5.563783 
seperate points time 13.077160 
mapping data assosiation time 27.232804 ms 
publication time 10.244937 ms 
whole laserOdometry time 10.260263 ms 
 
mapping solver time 24.488204 ms 
filter time 13.065774 ms 
map prepare time 3.473465 ms
map corner num 171530  surf num 69290 
--------------------stamp1317357953.797609090
prepare time 13.022128 
sort q time 5.628328 
seperate points time 13.088526 
publication time 12.521213 ms 
whole laserOdometry time 12.584080 ms 
mapping solver time 19.720439 ms 
--------------------stamp1317357953.901695966
prepare time 11.460873 
sort q time 6.200168 
seperate points time 13.545769 
mapping pub time 2.459155 ms 
whole mapping time 153.902360 ms +++++
mappingCount 1290 & avg mapping time 143.867475 ms ++++++++++++++++++++++
publication time 17.582170 ms 
whole laserOdometry time 17.596872 ms 
 
build tree time 43.439727 ms 
-----t: 0.0857871
OdomCount 1848 & avg odom time 0.045147 ms ++++++++++++++++++++++
mapping data assosiation time 25.363603 ms 
sort q time 5.730180 
seperate points time 13.929853 
publication time 8.859348 ms 
whole laserOdometry time 8.873801 ms 
 
mapping solver time 26.777229 ms 
--------------------stamp1317357954.109750986
drop lidar frame in mapping for real time performance 
sort q time 6.772533 
seperate points time 14.812417 
publication time 9.785211 ms 
whole laserOdometry time 9.798807 ms 
 
build tree time 48.994675 ms 
mapping data assosiation time 29.611830 ms 
-----t: 0.0954778
OdomCount 1850 & avg odom time 0.045179 ms ++++++++++++++++++++++
mapping solver time 32.133916 ms 
scan registration time 34.446294 ms *************
mapping data assosiation time 30.092577 ms 
-----t: 0.0513563
OdomCount 1851 & avg odom time 0.045182 ms ++++++++++++++++++++++
add points time 0.924678 ms
filter time 16.808147 ms 
map prepare time 4.540981 ms
map corner num 173614  surf num 70120 
points size 103509 
sort q time 6.645778 
seperate points time 13.374499 
publication time 9.049786 ms 
whole laserOdometry time 9.063286 ms 
 
build tree time 50.443535 ms 
-----t: 0.0537757
OdomCount 1852 & avg odom time 0.045187 ms ++++++++++++++++++++++
1317357954.317759990 WriteOdom laser_odom_to_init
1317357954.317759990 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357954.421724081
prepare time 12.233587 
mapping solver time 19.227868 ms 
filter time 16.814109 ms 
map prepare time 4.300640 ms
map corner num 174398  surf num 70481 
points size 104049 
sort q time 5.938816 
seperate points time 12.717945 
publication time 11.982979 ms 
whole laserOdometry time 11.995061 ms 
 
-----t: 0.0497489
OdomCount 1854 & avg odom time 0.045197 ms ++++++++++++++++++++++
mapping solver time 30.553076 ms 
--------------------stamp1317357954.629631042
prepare time 11.877658 
scan registration time 30.532785 ms *************
mapping solver time 25.423657 ms 
-----t: 0.0395361
OdomCount 1855 & avg odom time 0.045194 ms ++++++++++++++++++++++
mapping pub time 2.528240 ms 
whole mapping time 191.130578 ms +++++
mappingCount 1294 & avg mapping time 143.995947 ms ++++++++++++++++++++++
--------------------stamp1317357954.733550071
build tree time 45.739684 ms 
sort q time 6.964643 
seperate points time 15.976718 
publication time 9.732982 ms 
whole laserOdometry time 9.744428 ms 
 
mapping data assosiation time 23.888207 ms 
mapping solver time 16.443930 ms 
points size 103573 
mapping pub time 2.402383 ms 
whole mapping time 166.417859 ms +++++
mappingCount 1295 & avg mapping time 144.013270 ms ++++++++++++++++++++++
1317357954.525690079 WriteOdom aft_mapped_to_init
scan registration time 35.096532 ms *************
publication time 8.509255 ms 
whole laserOdometry time 8.520979 ms 
 
-----t: 0.0502541
OdomCount 1857 & avg odom time 0.045197 ms ++++++++++++++++++++++
1317357954.837445974 WriteOdom laser_odom_to_init
1317357954.837445974 WriteOdom aft_mapped_to_init_high_frec
build tree time 42.612872 ms 
mapping data assosiation time 25.821764 ms 
points size 103051 
mapping solver time 27.564917 ms 
publication time 9.332194 ms 
whole laserOdometry time 9.349435 ms 
 
-----t: 0.0494604
OdomCount 1858 & avg odom time 0.045199 ms ++++++++++++++++++++++
mapping solver time 22.034056 ms 
mapping optimization time 150.344604 
add points time 0.949249 ms
mapping pub time 5.708001 ms 
[0m[ INFO] [1718890037.934993292, 1317357955.037540129]: Received 248248 data points in frame camera_init with the following fields: x y z intensity[0m
whole mapping time 173.267104 ms +++++
mappingCount 1296 & avg mapping time 144.035857 ms ++++++++++++++++++++++
[0m[ INFO] [1718890037.935042445, 1317357955.037540129]: Data saved to 1317357954733550.pcd[0m
--------------------stamp1317357955.045186042
prepare time 9.929588 
sort q time 6.195570 
seperate points time 13.282961 
publication time 8.820105 ms 
whole laserOdometry time 8.836651 ms 
 
-----t: 0.0501792
OdomCount 1859 & avg odom time 0.045202 ms ++++++++++++++++++++++
mapping solver time 20.172186 ms 
--------------------stamp1317357955.149055957
prepare time 11.296871 
sort q time 6.334929 
seperate points time 12.262199 
mapping solver time 19.441480 ms 
filter time 20.815467 ms 
-----t: 0.0597531
OdomCount 1860 & avg odom time 0.045209 ms ++++++++++++++++++++++
1317357955.149055957 WriteOdom laser_odom_to_init
1317357955.149055957 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357955.252928018
points size 100905 
sort q time 5.879583 
seperate points time 12.835895 
mapping data assosiation time 27.630703 ms 
mapping solver time 28.880959 ms 
1317357955.252928018 WriteOdom laser_odom_to_init
mapping data assosiation time 25.858586 ms 
1317357955.252928018 WriteOdom aft_mapped_to_init_high_frec
points size 100157 
sort q time 6.383848 
seperate points time 12.913060 
-----t: 0.0552939
OdomCount 1862 & avg odom time 0.045231 ms ++++++++++++++++++++++
1317357955.356797933 WriteOdom laser_odom_to_init
1317357955.356797933 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.738021 ms 
points size 99582 
sort q time 6.310910 
seperate points time 13.675478 
mapping solver time 30.201688 ms 
scan registration time 30.059751 ms *************
mapping data assosiation time 27.364034 ms 
-----t: 0.0543306
OdomCount 1863 & avg odom time 0.045236 ms ++++++++++++++++++++++
add points time 1.050618 ms
filter time 11.533619 ms 
--------------------stamp1317357955.564564943
prepare time 11.704185 
sort q time 6.621871 
seperate points time 13.053532 
build tree time 43.405480 ms 
publication time 13.194026 ms 
whole laserOdometry time 13.206499 ms 
 
-----t: 0.04443
OdomCount 1864 & avg odom time 0.045236 ms ++++++++++++++++++++++
1317357955.564564943 WriteOdom laser_odom_to_init
1317357955.564564943 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.579779 ms 
mapping solver time 19.988864 ms 
--------------------stamp1317357955.668461084
mapping data assosiation time 27.562469 ms 
sort q time 5.693640 
seperate points time 12.546161 
filter time 15.599462 ms 
mapping pub time 2.431340 ms 
whole mapping time 162.551020 ms +++++
mappingCount 1300 & avg mapping time 144.109898 ms ++++++++++++++++++++++
1317357955.356797934 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 12.933654 ms 
whole laserOdometry time 12.943980 ms 
 
map prepare time 4.525215 ms
map corner num 161769  surf num 61770 
build tree time 40.626298 ms 
points size 99769 
scan registration time 32.488074 ms *************
publication time 8.604516 ms 
whole laserOdometry time 8.618942 ms 
 
-----t: 0.0695646
OdomCount 1866 & avg odom time 0.045250 ms ++++++++++++++++++++++
--------------------stamp1317357955.876178026
points size 99769 
filter time 12.516204 ms 
sort q time 5.579052 
seperate points time 12.682961 
[0m[ INFO] [1718890038.803339847, 1317357955.896803075]: Received 224513 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890038.803415539, 1317357955.896803075]: Data saved to 1317357955564564.pcd[0m
publication time 9.635567 ms 
whole laserOdometry time 9.648466 ms 
 
-----t: 0.0468284
OdomCount 1867 & avg odom time 0.045251 ms ++++++++++++++++++++++
mapping pub time 59.606538 ms 
whole mapping time 234.354487 ms +++++
mappingCount 1301 & avg mapping time 144.179268 ms ++++++++++++++++++++++
--------------------stamp1317357955.980026006
points size 98722 
build tree time 40.531669 ms 
mapping data assosiation time 28.427653 ms 
mapping solver time 27.343100 ms 
--------------------stamp1317357956.083873033
points size 98183 
sort q time 5.690553 
seperate points time 13.183414 
filter time 13.783304 ms 
build tree time 23.616066 ms 
--------------------stamp1317357956.187717914
prepare time 11.545372 
sort q time 5.757615 
seperate points time 12.450833 
publication time 8.592860 ms 
whole laserOdometry time 8.603188 ms 
 
-----t: 0.0436255
OdomCount 1870 & avg odom time 0.045259 ms ++++++++++++++++++++++
1317357956.187717914 WriteOdom laser_odom_to_init
1317357956.187717914 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.453364 ms 
mapping solver time 16.296248 ms 
mapping optimization time 129.410686 
add points time 0.989627 ms
map prepare time 2.596218 ms
map corner num 90266  surf num 34573 
--------------------stamp1317357956.291539907
points size 97736 
sort q time 5.371320 
seperate points time 12.472586 
mapping data assosiation time 27.830148 ms 
mapping solver time 31.613681 ms 
-----t: 0.0565187
OdomCount 1871 & avg odom time 0.045265 ms ++++++++++++++++++++++
1317357956.291539907 WriteOdom laser_odom_to_init
1317357956.291539907 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.682689 ms 
points size 97333 
prepare time 12.054167 
scan registration time 29.919759 ms *************
map prepare time 3.630579 ms
map corner num 90858  surf num 34736 
publication time 9.984911 ms 
whole laserOdometry time 9.996559 ms 
 
build tree time 24.718184 ms 
-----t: 0.0637452
OdomCount 1872 & avg odom time 0.045275 ms ++++++++++++++++++++++
1317357956.395339012 WriteOdom laser_odom_to_init
1317357956.395339012 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.611176 ms 
--------------------stamp1317357956.499161005
prepare time 11.010184 
sort q time 5.913257 
seperate points time 11.656236 
mapping data assosiation time 28.308529 ms 
publication time 9.497174 ms 
whole laserOdometry time 9.510517 ms 
 
mapping solver time 24.290254 ms 
mapping optimization time 132.003890 
add points time 0.917964 ms
build tree time 21.015077 ms 
points size 96660 
mapping data assosiation time 27.657165 ms 
mapping solver time 26.981329 ms 
-----t: 0.0521976
OdomCount 1874 & avg odom time 0.045283 ms ++++++++++++++++++++++
mapping data assosiation time 28.289241 ms 
mapping solver time 16.866396 ms 
filter time 6.625844 ms 
map prepare time 2.720837 ms
map corner num 92227  surf num 35193 
sort q time 5.642060 
seperate points time 13.032014 
scan registration time 32.505925 ms *************
build tree time 24.966014 ms 
publication time 10.513761 ms 
whole laserOdometry time 10.527091 ms 
 
-----t: 0.067093
OdomCount 1875 & avg odom time 0.045295 ms ++++++++++++++++++++++
1317357956.706758975 WriteOdom laser_odom_to_init
1317357956.706758975 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.760042 ms 
--------------------stamp1317357956.810555934
points size 96807 
sort q time 5.340009 
seperate points time 12.585048 
publication time 7.315045 ms 
whole laserOdometry time 7.328092 ms 
 
filter time 6.421678 ms 
build tree time 19.788045 ms 
--------------------stamp1317357956.914330005
points size 96829 
sort q time 5.549425 
seperate points time 13.194019 
mapping solver time 25.675193 ms 
publication time 9.981698 ms 
whole laserOdometry time 9.993246 ms 
 
mapping data assosiation time 28.498984 ms 
mapping solver time 17.760764 ms 
filter time 8.306567 ms 
--------------------stamp1317357957.018059015
points size 97024 
prepare time 13.402275 
scan registration time 32.933470 ms *************
publication time 10.448565 ms 
whole laserOdometry time 10.463284 ms 
 
-----t: 0.0519575
OdomCount 1878 & avg odom time 0.045296 ms ++++++++++++++++++++++
1317357957.018059015 WriteOdom laser_odom_to_init
1317357957.018059015 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357957.121762037
prepare time 12.596101 
sort q time 5.456088 
seperate points time 12.026456 
filter time 9.903641 ms 
build tree time 21.685888 ms 
mapping data assosiation time 24.403760 ms 
points size 97736 
mapping solver time 30.163349 ms 
publication time 8.718955 ms 
whole laserOdometry time 8.735503 ms 
 
mapping solver time 21.202447 ms 
filter time 7.551685 ms 
map prepare time 2.874254 ms
map corner num 94911  surf num 36155 
points size 98284 
sort q time 6.139236 
seperate points time 11.763036 
mapping data assosiation time 29.991570 ms 
-----t: 0.0486333
OdomCount 1881 & avg odom time 0.045287 ms ++++++++++++++++++++++
mapping solver time 30.511805 ms 
--------------------stamp1317357957.432893991
prepare time 12.844226 
mapping solver time 29.363121 ms 
filter time 9.523789 ms 
build tree time 23.564694 ms 
mapping data assosiation time 26.305855 ms 
prepare time 11.352716 
mapping solver time 31.818839 ms 
publication time 7.866844 ms 
whole laserOdometry time 7.877351 ms 
 
-----t: 0.0456295
OdomCount 1883 & avg odom time 0.045298 ms ++++++++++++++++++++++
mapping solver time 25.024234 ms 
mapping pub time 2.152255 ms 
whole mapping time 150.957821 ms +++++
mappingCount 1312 & avg mapping time 144.221104 ms ++++++++++++++++++++++
1317357957.329190016 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.675271 ms
map corner num 96284  surf num 36656 
points size 99451 
publication time 9.269899 ms 
whole laserOdometry time 9.285485 ms 
 
mapping data assosiation time 31.527754 ms 
mapping solver time 25.000409 ms 
mapping data assosiation time 25.144817 ms 
points size 100179 
mapping solver time 26.301930 ms 
filter time 9.558815 ms 
publication time 9.659173 ms 
whole laserOdometry time 9.688585 ms 
 
-----t: 0.0465928
OdomCount 1885 & avg odom time 0.045297 ms ++++++++++++++++++++++
mapping data assosiation time 27.571601 ms 
--------------------stamp1317357957.847608089
prepare time 12.728543 
mapping solver time 35.419450 ms 
publication time 9.085251 ms 
whole laserOdometry time 9.096873 ms 
 
mapping data assosiation time 31.825444 ms 
mapping solver time 23.336923 ms 
mapping optimization time 143.864552 
add points time 0.821263 ms
map prepare time 2.934427 ms
map corner num 97672  surf num 37280 
--------------------stamp1317357957.951261997
points size 102135 
build tree time 25.800091 ms 
scan registration time 30.513093 ms *************
publication time 10.589760 ms 
whole laserOdometry time 10.604895 ms 
 
-----t: 0.0480438
OdomCount 1887 & avg odom time 0.045297 ms ++++++++++++++++++++++
1317357957.951261997 WriteOdom laser_odom_to_init
1317357957.951261997 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.260585 ms 
--------------------stamp1317357958.054943084
prepare time 11.268292 
sort q time 6.266071 
seperate points time 12.153505 
publication time 10.129158 ms 
whole laserOdometry time 10.151996 ms 
 
-----t: 0.0526314
OdomCount 1888 & avg odom time 0.045301 ms ++++++++++++++++++++++
build tree time 24.526212 ms 
mapping data assosiation time 27.021881 ms 
prepare time 11.234386 
sort q time 6.071787 
seperate points time 13.183157 
publication time 8.843898 ms 
whole laserOdometry time 8.883801 ms 
 
mapping data assosiation time 30.442552 ms 
mapping solver time 29.677142 ms 
filter time 7.002044 ms 
map prepare time 3.481568 ms
map corner num 99109  surf num 37862 
sort q time 6.052427 
seperate points time 13.904449 
mapping data assosiation time 30.798539 ms 
mapping solver time 35.142787 ms 
points size 102578 
sort q time 6.035229 
seperate points time 13.683303 
publication time 11.712171 ms 
whole laserOdometry time 11.723736 ms 
 
mapping solver time 29.997395 ms 
1317357958.054943085 WriteOdom aft_mapped_to_init
-----t: 0.0577814
OdomCount 1891 & avg odom time 0.045314 ms ++++++++++++++++++++++
1317357958.366003036 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317357958.366003036 WriteOdom aft_mapped_to_init_high_frec
-----t: 0.0690024
OdomCount 1892 & avg odom time 0.045327 ms ++++++++++++++++++++++
mapping data assosiation time 30.773205 ms 
--------------------stamp1317357958.573456048
mapping optimization time 138.124858 
scan registration time 30.721512 ms *************
publication time 9.078664 ms 
whole laserOdometry time 9.094293 ms 
 
-----t: 0.0516834
OdomCount 1893 & avg odom time 0.045330 ms ++++++++++++++++++++++
mapping data assosiation time 27.221824 ms 
--------------------stamp1317357958.677182912
prepare time 13.220240 
mapping solver time 30.439110 ms 
sort q time 6.404630 
seperate points time 13.761714 
mapping data assosiation time 34.783109 ms 
-----t: 0.0551028
OdomCount 1894 & avg odom time 0.045335 ms ++++++++++++++++++++++
1317357958.677182912 WriteOdom laser_odom_to_init
1317357958.677182912 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.174589 ms 
filter time 9.303376 ms 
mapping pub time 2.315451 ms 
whole mapping time 166.140894 ms +++++
mappingCount 1319 & avg mapping time 144.304688 ms ++++++++++++++++++++++
1317357958.469728947 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.869878 ms
map corner num 101231  surf num 38830 
points size 102703 
sort q time 6.631015 
seperate points time 13.328691 
mapping data assosiation time 31.956305 ms 
1317357958.780909061 WriteOdom laser_odom_to_init
1317357958.780909061 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357958.884634971
points size 102788 
prepare time 14.170806 
add points time 0.930734 ms
mapping pub time 2.403236 ms 
whole mapping time 151.018405 ms +++++
mappingCount 1320 & avg mapping time 144.309778 ms ++++++++++++++++++++++
build tree time 26.557431 ms 
mapping data assosiation time 26.417093 ms 
points size 102912 
prepare time 11.843176 
publication time 8.882835 ms 
whole laserOdometry time 8.898055 ms 
 
-----t: 0.0544085
OdomCount 1897 & avg odom time 0.045348 ms ++++++++++++++++++++++
1317357958.988364934 WriteOdom laser_odom_to_init
1317357958.988364934 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.155228 ms 
filter time 7.329481 ms 
--------------------stamp1317357959.092068910
scan registration time 34.524267 ms *************
mapping pub time 77.212262 ms 
whole mapping time 225.533596 ms +++++
mappingCount 1321 & avg mapping time 144.371268 ms ++++++++++++++++++++++
-----t: 0.0654207
OdomCount 1898 & avg odom time 0.045359 ms ++++++++++++++++++++++
build tree time 24.010621 ms 
--------------------stamp1317357959.195746898
prepare time 11.231340 
sort q time 6.430295 
seperate points time 14.291232 
mapping solver time 29.872820 ms -----t: 0.0498107
OdomCount 1899 & avg odom time 0.045361 ms ++++++++++++++++++++++
mapping data assosiation time 36.166660 ms 
--------------------stamp1317357959.299424886
prepare time 12.709303 
map prepare time 2.807489 ms
map corner num 103125  surf num 39586 
build tree time 27.850382 ms 
publication time 10.354412 ms 
whole laserOdometry time 10.366933 ms 
 
-----t: 0.0579826
OdomCount 1900 & avg odom time 0.045368 ms ++++++++++++++++++++++
mapping data assosiation time 32.445341 ms 
--------------------stamp1317357959.403103113
prepare time 11.393010 
sort q time 5.903416 
seperate points time 13.604836 
mapping data assosiation time 34.226678 ms 
filter time 7.176459 ms 
build tree time 27.692005 ms 
points size 102737 
sort q time 6.423608 
seperate points time 14.017015 
publication time 10.371358 ms 
whole laserOdometry time 10.385295 ms 
 
mapping solver time 34.401902 ms 
mapping data assosiation time 26.992582 ms 
--------------------stamp1317357959.610510110
points size 102709 
filter time 7.329596 ms 
sort q time 5.650688 
seperate points time 13.361111 
mapping pub time 2.341060 ms 
whole mapping time 167.577548 ms +++++
mappingCount 1324 & avg mapping time 144.407573 ms ++++++++++++++++++++++
1317357959.299424887 WriteOdom aft_mapped_to_init
scan registration time 33.924521 ms *************
map prepare time 4.434526 ms
map corner num 104517  surf num 40174 
publication time 11.187075 ms 
whole laserOdometry time 11.207678 ms 
 
-----t: 0.0480489
OdomCount 1903 & avg odom time 0.045375 ms ++++++++++++++++++++++
1317357959.610510110 WriteOdom laser_odom_to_init
1317357959.610510110 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.986865 ms 
--------------------stamp1317357959.714282989
prepare time 14.050476 
sort q time 6.090305 
seperate points time 14.123748 
publication time 9.414342 ms 
whole laserOdometry time 9.426753 ms 
 
mapping solver time 20.642420 ms 
1317357959.714282989 WriteOdom laser_odom_to_init
1317357959.714282989 WriteOdom aft_mapped_to_init_high_frec
filter time 8.267570 ms 
mapping pub time 2.275860 ms 
whole mapping time 156.031354 ms +++++
mappingCount 1325 & avg mapping time 144.416348 ms ++++++++++++++++++++++
1317357959.506782055 WriteOdom aft_mapped_to_init
--------------------stamp1317357959.818056106
build tree time 24.576350 ms 
sort q time 5.776179 
seperate points time 12.919124 
mapping data assosiation time 32.692053 ms 
publication time 18.957436 ms 
whole laserOdometry time 18.977048 ms 
 
mapping solver time 28.772631 ms 
mapping data assosiation time 27.510504 ms 
points size 102097 
mapping solver time 21.038443 ms 
filter time 10.396056 ms 
publication time 7.598315 ms 
whole laserOdometry time 7.612302 ms 
 
build tree time 26.036987 ms 
mapping data assosiation time 23.690053 ms 
points size 102110 
mapping solver time 32.465892 ms 
scan registration time 32.643666 ms *************
publication time 9.196718 ms 
whole laserOdometry time 9.211329 ms 
 
-----t: 0.0523321
OdomCount 1907 & avg odom time 0.045391 ms ++++++++++++++++++++++
1317357960.025726079 WriteOdom laser_odom_to_init
1317357960.025726079 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.527890 ms 
filter time 7.405330 ms 
map prepare time 2.774852 ms
map corner num 106438  surf num 40946 
--------------------stamp1317357960.129668951
prepare time 11.013021 
scan registration time 28.603688 ms *************
mapping data assosiation time 29.769313 ms 
publication time 10.754338 ms 
whole laserOdometry time 10.770963 ms 
 
-----t: 0.0581472
OdomCount 1908 & avg odom time 0.045397 ms ++++++++++++++++++++++
mapping solver time 47.254812 ms 
points size 101759 
mapping data assosiation time 29.937709 ms 
scan registration time 35.143593 ms *************
-----t: 0.0449921
OdomCount 1909 & avg odom time 0.045397 ms ++++++++++++++++++++++
map prepare time 2.900751 ms
map corner num 107001  surf num 41167 
build tree time 22.754575 ms 
points size 101442 
mapping data assosiation time 28.515972 ms 
sort q time 6.204700 
seperate points time 14.059751 
publication time 9.513162 ms 
whole laserOdometry time 10.994943 ms 
 
mapping data assosiation time 24.003611 ms 
--------------------stamp1317357960.441787958
mapping optimization time 143.616675 
filter time 10.661300 ms 
publication time 8.258225 ms 
whole laserOdometry time 8.274940 ms 
 
mapping data assosiation time 23.074875 ms 
--------------------stamp1317357960.545945882
prepare time 11.200367 
sort q time 5.943666 
seperate points time 13.461553 
mapping data assosiation time 30.031040 ms 
publication time 8.603975 ms 
whole laserOdometry time 8.617714 ms 
 
-----t: 0.0446531
OdomCount 1912 & avg odom time 0.045395 ms ++++++++++++++++++++++
1317357960.545945882 WriteOdom laser_odom_to_init
1317357960.545945882 WriteOdom aft_mapped_to_init_high_frec
filter time 10.476326 ms 
map prepare time 2.745685 ms
map corner num 108356  surf num 41696 
--------------------stamp1317357960.650177001
prepare time 11.198009 
sort q time 6.657901 
seperate points time 12.254481 
mapping data assosiation time 26.597865 ms 
-----t: 0.0488815
OdomCount 1913 & avg odom time 0.045397 ms ++++++++++++++++++++++
mapping data assosiation time 22.728135 ms 
--------------------stamp1317357960.754456043
prepare time 11.152539 
mapping solver time 27.929833 ms 
mapping optimization time 131.387627 
add points time 0.834374 ms
map prepare time 2.896924 ms
map corner num 108992  surf num 41893 
publication time 9.009188 ms 
whole laserOdometry time 9.022490 ms 
 
-----t: 0.0451201
OdomCount 1914 & avg odom time 0.045397 ms ++++++++++++++++++++++
mapping data assosiation time 23.941850 ms 
--------------------stamp1317357960.858758926
prepare time 9.299061 
sort q time 5.932894 
seperate points time 11.324653 
publication time 8.304168 ms 
whole laserOdometry time 8.336272 ms 
 
-----t: 0.0419137
OdomCount 1915 & avg odom time 0.045395 ms ++++++++++++++++++++++
1317357960.858758926 WriteOdom laser_odom_to_init
1317357960.858758926 WriteOdom aft_mapped_to_init_high_frec
filter time 7.381402 ms 
mapping pub time 2.297054 ms 
whole mapping time 152.030825 ms +++++
mappingCount 1332 & avg mapping time 144.498508 ms ++++++++++++++++++++++
1317357960.650177002 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.646482 ms
map corner num 109756  surf num 42147 
--------------------stamp1317357960.963094949
sort q time 5.208242 
seperate points time 11.533643 
mapping data assosiation time 24.779284 ms 
publication time 9.983021 ms 
whole laserOdometry time 9.999574 ms 
 
mapping solver time 28.547017 ms 
mapping data assosiation time 23.424664 ms 
--------------------stamp1317357961.067445993
mapping solver time 30.771689 ms 
filter time 10.382381 ms 
publication time 10.008237 ms 
whole laserOdometry time 10.024597 ms 
 
-----t: 0.0355255
OdomCount 1917 & avg odom time 0.045388 ms ++++++++++++++++++++++
build tree time 26.654860 ms 
mapping data assosiation time 20.987660 ms 
--------------------stamp1317357961.171761989
sort q time 5.780934 
seperate points time 11.249445 
publication time 8.081904 ms 
whole laserOdometry time 8.096871 ms 
 
-----t: 0.0421588
OdomCount 1918 & avg odom time 0.045386 ms ++++++++++++++++++++++
filter time 7.245771 ms 
build tree time 21.958175 ms 
points size 90489 
mapping data assosiation time 25.500006 ms 
publication time 8.254550 ms 
whole laserOdometry time 8.270446 ms 
 
-----t: 0.0287914
OdomCount 1919 & avg odom time 0.045377 ms ++++++++++++++++++++++
mapping data assosiation time 23.378106 ms 
mapping solver time 20.520469 ms 
filter time 10.486302 ms 
1317357961.067445993 WriteOdom aft_mapped_to_init
publication time 7.447640 ms 
whole laserOdometry time 7.462305 ms 
 
-----t: 0.0435727
OdomCount 1920 & avg odom time 0.045376 ms ++++++++++++++++++++++
mapping solver time 22.321633 ms 
--------------------stamp1317357961.484622955
sort q time 4.642302 
seperate points time 10.589821 
scan registration time 22.415002 ms *************
-----t: 0.0305688
OdomCount 1921 & avg odom time 0.045369 ms ++++++++++++++++++++++
map prepare time 2.738425 ms
map corner num 112606  surf num 42952 
build tree time 24.909823 ms 
mapping data assosiation time 19.482061 ms 
points size 89036 
mapping solver time 28.051514 ms 
publication time 8.928377 ms 
whole laserOdometry time 8.937182 ms 
 
1317357961.588829040 WriteOdom laser_odom_to_init
1317357961.588829040 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.901666 ms 
mapping solver time 19.068895 ms 
mapping pub time 1.996609 ms 
whole mapping time 131.619536 ms +++++
mappingCount 1337 & avg mapping time 144.493732 ms ++++++++++++++++++++++
--------------------stamp1317357961.693037033
points size 89716 
sort q time 5.914154 
seperate points time 13.945374 
publication time 7.574207 ms 
whole laserOdometry time 7.588674 ms 
 
mapping data assosiation time 18.981611 ms 
mapping solver time 18.047156 ms 
filter time 7.511584 ms 
points size 89680 
prepare time 8.535088 
build tree time 28.949226 ms 
publication time 15.188084 ms 
whole laserOdometry time 15.221216 ms 
 
mapping solver time 17.485775 ms 
mapping data assosiation time 17.763648 ms 
--------------------stamp1317357961.901352882
mapping pub time 2.121717 ms 
whole mapping time 114.725788 ms +++++
mappingCount 1339 & avg mapping time 144.457543 ms ++++++++++++++++++++++
sort q time 5.052889 
seperate points time 11.728214 
publication time 7.815493 ms 
whole laserOdometry time 7.829180 ms 
 
-----t: 0.0414993
OdomCount 1925 & avg odom time 0.045355 ms ++++++++++++++++++++++
1317357961.901352882 WriteOdom laser_odom_to_init
1317357961.901352882 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.355685 ms 
--------------------stamp1317357962.005464076
sort q time 4.650599 
seperate points time 10.581253 
mapping optimization time 118.433622 
publication time 9.954647 ms 
whole laserOdometry time 9.974768 ms 
 
-----t: 0.0301403
OdomCount 1926 & avg odom time 0.045348 ms ++++++++++++++++++++++
1317357962.005464076 WriteOdom laser_odom_to_init
1317357962.005464076 WriteOdom aft_mapped_to_init_high_frec
build tree time 26.468307 ms 
mapping data assosiation time 18.259093 ms 
points size 85550 
prepare time 8.092561 
publication time 7.130876 ms 
whole laserOdometry time 7.146152 ms 
 
mapping solver time 18.176046 ms 
mapping optimization time 110.707548 
add points time 0.627320 ms
[0m[ INFO] [1718890045.079319597, 1317357962.172648763]: Received 158194 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890045.079527953, 1317357962.182709741]: Data saved to 1317357961901352.pcd[0m
--------------------stamp1317357962.213660001
sort q time 4.238493 
seperate points time 9.531004 
mapping pub time 74.049116 ms 
whole mapping time 196.256650 ms +++++
mappingCount 1341 & avg mapping time 144.489461 ms ++++++++++++++++++++++
-----t: 0.0354407
OdomCount 1928 & avg odom time 0.045333 ms ++++++++++++++++++++++
1317357962.213660001 WriteOdom laser_odom_to_init
1317357962.213660001 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.169102 ms 
mapping data assosiation time 20.261233 ms 
--------------------stamp1317357962.317723989
sort q time 5.122451 
seperate points time 10.455189 
publication time 7.149834 ms 
whole laserOdometry time 7.161687 ms 
 
-----t: 0.0307514
OdomCount 1929 & avg odom time 0.045326 ms ++++++++++++++++++++++
map prepare time 2.513517 ms
map corner num 115267  surf num 43506 
build tree time 24.393516 ms 
--------------------stamp1317357962.421761989
mapping solver time 22.065084 ms 
publication time 7.636709 ms 
whole laserOdometry time 7.647496 ms 
 
-----t: 0.0381533
OdomCount 1930 & avg odom time 0.045322 ms ++++++++++++++++++++++
1317357962.421761989 WriteOdom laser_odom_to_init
1317357962.421761989 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.397043 ms 
mapping optimization time 103.869328 
add points time 0.675484 ms
mapping pub time 2.117783 ms 
whole mapping time 119.808208 ms +++++
mappingCount 1343 & avg mapping time 144.452604 ms ++++++++++++++++++++++
--------------------stamp1317357962.525778055
sort q time 5.195999 
seperate points time 10.432873 
scan registration time 20.722838 ms *************
mapping data assosiation time 21.273136 ms 
publication time 7.276578 ms 
whole laserOdometry time 7.293513 ms 
 
-----t: 0.0325269
OdomCount 1931 & avg odom time 0.045315 ms ++++++++++++++++++++++
1317357962.525778055 WriteOdom laser_odom_to_init
1317357962.525778055 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 11.937660 ms 
mapping pub time 1.983015 ms 
whole mapping time 113.550174 ms +++++
mappingCount 1344 & avg mapping time 144.429613 ms ++++++++++++++++++++++
--------------------stamp1317357962.629769086
prepare time 12.894082 
sort q time 5.983102 
seperate points time 13.123703 
publication time 9.440387 ms 
whole laserOdometry time 9.453156 ms 
 
-----t: 0.0442767
OdomCount 1932 & avg odom time 0.045315 ms ++++++++++++++++++++++
mapping data assosiation time 18.954194 ms 
mapping solver time 17.458709 ms 
filter time 10.259184 ms 
mapping pub time 2.013882 ms 
whole mapping time 128.860398 ms +++++
mappingCount 1345 & avg mapping time 144.418040 ms ++++++++++++++++++++++
1317357962.525778055 WriteOdom aft_mapped_to_init
points size 89647 
scan registration time 27.803690 ms *************
publication time 7.911600 ms 
whole laserOdometry time 7.928159 ms 
 
-----t: 0.0440187
OdomCount 1933 & avg odom time 0.045314 ms ++++++++++++++++++++++
mapping data assosiation time 16.417766 ms 
mapping solver time 16.820935 ms 
points size 89065 
prepare time 10.164964 
mapping data assosiation time 20.399160 ms 
mapping solver time 14.189270 ms 
publication time 8.116665 ms 
whole laserOdometry time 8.133560 ms 
 
mapping pub time 5.458388 ms 
whole mapping time 144.337880 ms +++++
mappingCount 1346 & avg mapping time 144.417985 ms ++++++++++++++++++++++
build tree time 42.249973 ms 
points size 89256 
sort q time 5.037188 mapping solver time 19.880062 ms 
publication time 9.360353 ms 
whole laserOdometry time 9.390601 ms 
 
-----t: 0.0422888
OdomCount 1935 & avg odom time 0.045307 ms ++++++++++++++++++++++
1317357962.941597938 WriteOdom laser_odom_to_init
1317357962.941597938 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 126.075277 
filter time 12.263907 ms 
--------------------stamp1317357963.045492887
points size 90914 
prepare time 12.902443 
scan registration time 30.630149 ms *************
build tree time 51.102973 ms 
1317357963.045492887 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.860392 ms 
mapping solver time 20.102216 ms 
--------------------stamp1317357963.149363040
points size 94196 
prepare time 8.783727 
sort q time 5.862254 
seperate points time 12.401735 
filter time 17.208914 ms 
mapping pub time 2.149254 ms 
whole mapping time 150.741338 ms +++++
mappingCount 1348 & avg mapping time 144.422378 ms ++++++++++++++++++++++
1317357962.941597939 WriteOdom aft_mapped_to_init
-----t: 0.0407975
OdomCount 1937 & avg odom time 0.045300 ms ++++++++++++++++++++++
build tree time 43.674859 ms 
--------------------stamp1317357963.253210067
points size 95708 
sort q time 5.225888 
seperate points time 12.278139 
mapping data assosiation time 21.215755 ms 
mapping solver time 17.279770 ms 
filter time 13.415594 ms 
mapping pub time 2.099534 ms 
whole mapping time 147.213336 ms +++++
mappingCount 1349 & avg mapping time 144.424451 ms ++++++++++++++++++++++
1317357963.045492887 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.003660 ms
map corner num 191858  surf num 72142 
--------------------stamp1317357963.357057094
sort q time 5.607064 
seperate points time 12.901480 
-----t: 0.0459122
OdomCount 1939 & avg odom time 0.045298 ms ++++++++++++++++++++++
1317357963.357057094 WriteOdom laser_odom_to_init
1317357963.357057094 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.375545 ms 
mapping solver time 17.143501 ms 
mapping data assosiation time 18.525703 ms 
mapping solver time 13.744590 ms 
filter time 13.358541 ms 
publication time 8.283659 ms 
whole laserOdometry time 8.299041 ms 
 
-----t: 0.0379986
OdomCount 1940 & avg odom time 0.045294 ms ++++++++++++++++++++++
1317357963.460926055 WriteOdom laser_odom_to_init
1317357963.460926055 WriteOdom aft_mapped_to_init_high_frec
build tree time 45.783936 ms 
mapping data assosiation time 18.987594 ms 
--------------------stamp1317357963.564798116
points size 95890 
mapping solver time 25.952052 ms 
scan registration time 31.548559 ms *************
publication time 8.271768 ms 
whole laserOdometry time 8.290119 ms 
 
filter time 12.165491 ms 
map prepare time 3.310433 ms
map corner num 192971  surf num 72522 
--------------------stamp1317357963.668669939
prepare time 11.040309 
sort q time 5.594590 
seperate points time 11.437745 
publication time 9.939745 ms 
whole laserOdometry time 9.955962 ms 
 
-----t: 0.0488873
OdomCount 1942 & avg odom time 0.045292 ms ++++++++++++++++++++++
mapping solver time 21.588127 ms 
mapping data assosiation time 19.258846 ms 
--------------------stamp1317357963.772515058
mapping optimization time 131.594354 
scan registration time 26.515374 ms *************
map prepare time 3.782997 ms
map corner num 193503  surf num 72736 
-----t: 0.0525671
OdomCount 1943 & avg odom time 0.045296 ms ++++++++++++++++++++++
build tree time 49.593536 ms 
--------------------stamp1317357963.876362085
prepare time 10.379130 
sort q time 5.277444 
seperate points time 11.759007 
publication time 9.666329 ms 
whole laserOdometry time 9.678273 ms 
 
1317357963.876362085 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.858965 ms 
filter time 12.055181 ms 
--------------------stamp1317357963.980232954
prepare time 11.352740 
sort q time 5.069475 
seperate points time 11.495067 
publication time 9.772722 ms 
whole laserOdometry time 9.787272 ms 
 
mapping solver time 21.107437 ms 
mapping data assosiation time 19.442408 ms 
points size 89417 
mapping solver time 25.838566 ms 
filter time 17.140970 ms 
publication time 9.611616 ms 
whole laserOdometry time 9.626681 ms 
 
map prepare time 4.459218 ms
map corner num 162781  surf num 58660 
build tree time 36.191436 ms 
mapping data assosiation time 19.108765 ms 
sort q time 5.798682 
seperate points time 11.361301 
scan registration time 22.994635 ms *************
publication time 9.420270 ms 
whole laserOdometry time 9.435332 ms 
 
-----t: 0.0351158
OdomCount 1947 & avg odom time 0.045278 ms ++++++++++++++++++++++
mapping solver time 18.260326 ms 
filter time 10.014759 ms 
--------------------stamp1317357964.291845083
prepare time 11.379530 
build tree time 42.994580 ms 
mapping data assosiation time 24.292987 ms 
mapping solver time 24.859377 ms 
mapping data assosiation time 17.226334 ms 
--------------------stamp1317357964.395716905
prepare time 11.649765 
sort q time 5.636805 
seperate points time 13.433731 
publication time 10.670526 ms 
whole laserOdometry time 10.687516 ms 
 
-----t: 0.0589757
OdomCount 1949 & avg odom time 0.045283 ms ++++++++++++++++++++++
mapping data assosiation time 19.198716 ms 
points size 94383 
mapping solver time 26.306685 ms 
publication time 10.002202 ms 
whole laserOdometry time 10.017914 ms 
 
-----t: 0.0504771
OdomCount 1950 & avg odom time 0.045286 ms ++++++++++++++++++++++
mapping solver time 33.160025 ms 
filter time 15.308382 ms 
points size 97182 
sort q time 6.011665 
seperate points time 12.663617 
build tree time 49.667047 ms 
mapping data assosiation time 25.609218 ms 
--------------------stamp1317357964.707329034
points size 97638 
[0m[ INFO] [1718890047.627456474, 1317357964.725921244]: Received 222952 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890047.627539090, 1317357964.725921244]: Data saved to 1317357964084104.pcd[0m
publication time 8.490750 ms 
whole laserOdometry time 8.502105 ms 
 
filter time 15.563545 ms 
mapping pub time 2.273500 ms 
whole mapping time 180.099835 ms +++++
mappingCount 1358 & avg mapping time 144.512209 ms ++++++++++++++++++++++
1317357964.395716906 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357964.811249017
prepare time 11.798858 
build tree time 46.975006 ms 
publication time 6.919552 ms 
whole laserOdometry time 6.933348 ms 
 
-----t: 0.048401
OdomCount 1953 & avg odom time 0.045283 ms ++++++++++++++++++++++
mapping data assosiation time 21.820806 ms 
--------------------stamp1317357964.915215015
mapping optimization time 139.419690 
filter time 16.726669 ms 
publication time 9.007194 ms 
whole laserOdometry time 9.019817 ms 
 
build tree time 51.273048 ms 
--------------------stamp1317357965.019181966
sort q time 6.255190 
seperate points time 12.483922 
mapping solver time 24.936482 ms 
mapping data assosiation time 22.368009 ms 
mapping solver time 18.589288 ms 
filter time 10.900065 ms 
--------------------stamp1317357965.123147010
points size 92690 
build tree time 38.230226 ms 
mapping data assosiation time 23.320182 ms 
-----t: 0.0414426
OdomCount 1956 & avg odom time 0.045280 ms ++++++++++++++++++++++
mapping solver time 20.193087 ms 
mapping solver time 20.046863 ms 
--------------------stamp1317357965.227113962
points size 89187 
scan registration time 28.635218 ms *************
publication time 10.719062 ms 
whole laserOdometry time 10.739422 ms 
 
1317357964.915215015 WriteOdom aft_mapped_to_init
points size 86202 
sort q time 5.457047 
seperate points time 12.639521 
publication time 7.828031 ms 
whole laserOdometry time 7.841650 ms 
 
build tree time 47.321737 ms 
-----t: 0.041898
OdomCount 1958 & avg odom time 0.045276 ms ++++++++++++++++++++++
1317357965.331083059 WriteOdom laser_odom_to_init
1317357965.331083059 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.451465 ms 
mapping solver time 19.581019 ms 
--------------------stamp1317357965.435048103
prepare time 8.209309 
sort q time 4.656024 
seperate points time 9.849480 
mapping solver time 20.062239 ms 
mapping optimization time 126.988515 
add points time 0.748372 ms
drop lidar frame in mapping for real time performance 
-----t: 0.0655667
OdomCount 1959 & avg odom time 0.045286 ms ++++++++++++++++++++++
build tree time 43.098334 ms 
points size 78028 
sort q time 5.098534 
seperate points time 10.056419 
scan registration time 28.070199 ms *************
publication time 7.754717 ms 
whole laserOdometry time 7.766397 ms 
 
mapping data assosiation time 15.975470 ms 
mapping solver time 15.117567 ms 
filter time 10.305309 ms 
--------------------stamp1317357965.643007040
sort q time 4.315262 
seperate points time 9.169103 
publication time 7.579664 ms 
whole laserOdometry time 7.611050 ms 
 
mapping data assosiation time 18.220668 ms 
mapping solver time 19.220758 ms 
mapping data assosiation time 17.788394 ms 
points size 76592 
sort q time 5.332966 
seperate points time 11.291241 
scan registration time 24.022533 ms *************
filter time 12.757900 ms 
mapping pub time 2.002930 ms 
whole mapping time 139.682032 ms +++++
mappingCount 1364 & avg mapping time 144.592969 ms ++++++++++++++++++++++
-----t: 0.0510143
OdomCount 1962 & avg odom time 0.045272 ms ++++++++++++++++++++++
mapping data assosiation time 17.567480 ms 
points size 74474 
sort q time 4.341076 
seperate points time 10.759866 
mapping data assosiation time 23.495592 ms 
mapping solver time 22.397614 ms 
filter time 12.913760 ms 
--------------------stamp1317357965.955049991
sort q time 4.815213 
seperate points time 10.793732 
mapping data assosiation time 23.059114 ms 
-----t: 0.0535682
OdomCount 1964 & avg odom time 0.045282 ms ++++++++++++++++++++++
mapping solver time 25.060316 ms 
mapping data assosiation time 21.147375 ms 
points size 73883 
sort q time 4.484057 
seperate points time 14.303856 
publication time 5.669316 ms 
whole laserOdometry time 5.703227 ms 
 
filter time 25.781376 ms 
map prepare time 3.823280 ms
map corner num 169257  surf num 60107 
build tree time 38.301801 ms 
points size 69917 
sort q time 4.967306 
seperate points time 9.759764 
mapping solver time 23.942314 ms 
mapping data assosiation time 20.345738 ms 
mapping solver time 15.145504 ms 
filter time 11.286888 ms 
--------------------stamp1317357966.267095088
sort q time 4.190898 
seperate points time 8.113187 
build tree time 42.108224 ms 
-----t: 0.0300492
OdomCount 1967 & avg odom time 0.045264 ms ++++++++++++++++++++++
mapping solver time 16.018088 ms 
mapping data assosiation time 15.649188 ms 
mapping solver time 15.542185 ms 
points size 61897 
publication time 5.710616 ms 
whole laserOdometry time 5.723763 ms 
 
-----t: 0.0287051
OdomCount 1968 & avg odom time 0.045256 ms ++++++++++++++++++++++
build tree time 42.423737 ms 
mapping data assosiation time 18.260450 ms 
mapping solver time 17.507858 ms 
--------------------stamp1317357966.475075960
prepare time 9.345793 
sort q time 3.174393 
seperate points time 8.094563 
scan registration time 19.302112 ms *************
add points time 0.875028 ms
filter time 13.840132 ms 
build tree time 35.568870 ms 
mapping data assosiation time 16.565451 ms 
points size 61973 
scan registration time 16.015936 ms *************
-----t: 0.0218149
OdomCount 1970 & avg odom time 0.045237 ms ++++++++++++++++++++++
mapping solver time 12.404081 ms 
mapping optimization time 103.167121 
add points time 0.598996 ms
map prepare time 2.294595 ms
map corner num 171024  surf num 60603 
build tree time 34.610087 ms 
points size 66828 
scan registration time 23.780457 ms *************
-----t: 0.0238848
OdomCount 1971 & avg odom time 0.045226 ms ++++++++++++++++++++++
mapping data assosiation time 16.859401 ms 
mapping solver time 14.624495 ms 
filter time 10.720250 ms 
mapping pub time 4.382395 ms 
whole mapping time 129.656670 ms +++++
mappingCount 1371 & avg mapping time 144.571506 ms ++++++++++++++++++++++
1317357966.579067945 WriteOdom aft_mapped_to_init
--------------------stamp1317357966.787096023
sort q time 3.707919 
seperate points time 7.749904 
build tree time 48.300041 ms 
mapping data assosiation time 18.616670 ms 
mapping solver time 15.563731 ms 
mapping data assosiation time 15.495276 ms 
mapping solver time 16.440486 ms 
filter time 16.376792 ms 
publication time 5.398617 ms 
whole laserOdometry time 5.412082 ms 
 
-----t: 0.0458834
OdomCount 1973 & avg odom time 0.045218 ms ++++++++++++++++++++++
build tree time 45.262998 ms 
mapping data assosiation time 16.753670 ms 
--------------------stamp1317357966.995173931
sort q time 4.570532 
seperate points time 10.926070 
publication time 9.006994 ms 
whole laserOdometry time 9.020003 ms 
 
mapping solver time 21.076656 ms 
filter time 11.843079 ms 
build tree time 35.744937 ms 
points size 70666 
prepare time 8.585845 
mapping data assosiation time 18.138852 ms 
sort q time 3.755567 
seperate points time 9.189661 
scan registration time 19.149883 ms *************
publication time 6.782665 ms 
whole laserOdometry time 6.793459 ms 
 
-----t: 0.03365
OdomCount 1975 & avg odom time 0.045204 ms ++++++++++++++++++++++
mapping data assosiation time 19.343350 ms 
mapping solver time 16.809176 ms 
filter time 11.180260 ms 
--------------------stamp1317357967.203226089
points size 71753 
prepare time 8.750473 
sort q time 4.081703 
seperate points time 9.923376 
publication time 7.066168 ms 
whole laserOdometry time 7.079800 ms 
 
build tree time 60.423418 ms 
mapping data assosiation time 15.734497 ms 
mapping solver time 18.601625 ms 
--------------------stamp1317357967.307265996
prepare time 9.205797 
mapping solver time 21.303183 ms 
filter time 14.976097 ms 
-----t: 0.0465704
OdomCount 1977 & avg odom time 0.045198 ms ++++++++++++++++++++++
build tree time 38.521641 ms 
--------------------stamp1317357967.411303997
sort q time 4.510082 
seperate points time 10.395694 
scan registration time 21.157043 ms *************
publication time 10.686198 ms 
whole laserOdometry time 10.701150 ms 
 
mapping solver time 14.927472 ms 
filter time 11.438248 ms 
map prepare time 2.651287 ms
map corner num 173959  surf num 61481 
points size 80442 
build tree time 60.381359 ms 
publication time 7.829560 ms 
whole laserOdometry time 7.837520 ms 
 
mapping solver time 17.702732 ms 
mapping data assosiation time 16.185375 ms 
--------------------stamp1317357967.619307041
sort q time 4.723573 
seperate points time 11.515996 
publication time 10.109934 ms 
whole laserOdometry time 10.124781 ms 
 
build tree time 43.903851 ms 
mapping data assosiation time 16.920086 ms 
--------------------stamp1317357967.723248958
points size 79266 
sort q time 4.491418 
seperate points time 10.651249 
publication time 5.978223 ms 
whole laserOdometry time 5.992578 ms 
 
filter time 16.773830 ms 
--------------------stamp1317357967.827193021
points size 79379 
sort q time 4.911321 
seperate points time 10.521533 
mapping solver time 16.542833 ms 
-----t: 0.0384735
OdomCount 1982 & avg odom time 0.045176 ms ++++++++++++++++++++++
mapping solver time 12.087419 ms 
filter time 10.575296 ms 
[0m[ INFO] [1718890050.828926065, 1317357967.928363954]: Received 235440 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890050.828975174, 1317357967.928363954]: Data saved to 1317357967203226.pcd[0m
sort q time 4.348467 
seperate points time 9.042589 
publication time 5.857993 ms 
whole laserOdometry time 5.869472 ms 
 
mapping data assosiation time 20.256204 ms 
-----t: 0.0457361
OdomCount 1983 & avg odom time 0.045176 ms ++++++++++++++++++++++
mapping data assosiation time 17.091296 ms 
mapping solver time 11.715333 ms 
filter time 11.764855 ms 
sort q time 4.663354 
seperate points time 9.631518 
publication time 8.497546 ms 
whole laserOdometry time 8.509469 ms 
 
-----t: 0.0335057
OdomCount 1984 & avg odom time 0.045171 ms ++++++++++++++++++++++
build tree time 51.072877 ms 
mapping data assosiation time 15.860405 ms 
mapping solver time 11.976836 ms 
--------------------stamp1317357968.139023065
sort q time 4.865470 
seperate points time 10.623256 
scan registration time 21.528180 ms *************
mapping solver time 14.719475 ms 
mapping optimization time 114.601924 
add points time 1.041039 ms
filter time 20.320970 ms 
--------------------stamp1317357968.242940902
prepare time 11.023089 
scan registration time 26.150825 ms *************
-----t: 0.0294217
OdomCount 1986 & avg odom time 0.045159 ms ++++++++++++++++++++++
build tree time 44.522264 ms 
mapping data assosiation time 18.047992 ms 
mapping solver time 17.049455 ms 
mapping data assosiation time 18.525735 ms 
publication time 7.503067 ms 
whole laserOdometry time 7.515532 ms 
 
-----t: 0.0359579
OdomCount 1987 & avg odom time 0.045154 ms ++++++++++++++++++++++
map prepare time 3.166052 ms
map corner num 176465  surf num 62232 
build tree time 38.415840 ms 
points size 84136 
sort q time 4.713080 
seperate points time 11.225360 
publication time 7.615373 ms 
whole laserOdometry time 7.628163 ms 
 
-----t: 0.0343609
OdomCount 1988 & avg odom time 0.045149 ms ++++++++++++++++++++++
mapping data assosiation time 21.085555 ms 
mapping solver time 17.513415 ms 
filter time 14.129344 ms 
map prepare time 2.842997 ms
map corner num 176978  surf num 62393 
points size 82785 
sort q time 4.808424 
seperate points time 11.506081 
scan registration time 23.085293 ms *************
build tree time 49.698478 ms 
mapping data assosiation time 17.453788 ms 
mapping solver time 15.952492 ms 
mapping data assosiation time 16.385148 ms 
points size 81990 
sort q time 4.786793 
seperate points time 11.392690 
map prepare time 3.288605 ms
map corner num 177511  surf num 62528 
1317357968.658710956 WriteOdom laser_odom_to_init
1317357968.658710956 WriteOdom aft_mapped_to_init_high_frec
publication time 18.086445 ms 
whole laserOdometry time 18.101355 ms 
 
[0m[ INFO] [1718890051.630568216, 1317357968.732814261]: Received 238243 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890051.630615539, 1317357968.732814261]: Data saved to 1317357967931137.pcd[0m
mapping data assosiation time 16.763540 ms 
points size 81142 
mapping solver time 24.552699 ms 
mapping data assosiation time 23.282616 ms 
mapping solver time 19.429593 ms 
filter time 13.309601 ms 
--------------------stamp1317357968.866642951
points size 82121 
prepare time 9.395138 
publication time 7.537804 ms 
whole laserOdometry time 7.552567 ms 
 
-----t: 0.0378618
OdomCount 1992 & avg odom time 0.045133 ms ++++++++++++++++++++++
mapping solver time 17.430153 ms 
mapping data assosiation time 16.773929 ms 
mapping solver time 13.323145 ms 
--------------------stamp1317357968.970633983
1317357968.658710957 WriteOdom aft_mapped_to_init
scan registration time 23.475358 ms *************
publication time 9.188789 ms 
whole laserOdometry time 9.205059 ms 
 
-----t: 0.0435632
OdomCount 1993 & avg odom time 0.045132 ms ++++++++++++++++++++++
mapping data assosiation time 17.305832 ms 
mapping solver time 17.151393 ms 
points size 85214 
sort q time 4.769108 
seperate points time 11.360771 
scan registration time 24.929412 ms *************
publication time 9.928132 ms 
whole laserOdometry time 9.942912 ms 
 
-----t: 0.042669
OdomCount 1994 & avg odom time 0.045131 ms ++++++++++++++++++++++
map prepare time 2.964976 ms
map corner num 178731  surf num 62850 
build tree time 39.064888 ms 
points size 88857 
sort q time 5.524870 
seperate points time 12.475419 
mapping solver time 23.990768 ms 
mapping data assosiation time 23.732384 ms 
mapping solver time 14.493217 ms 
filter time 11.209003 ms 
points size 89918 
sort q time 5.242100 
seperate points time 12.438216 
build tree time 46.714960 ms 
publication time 15.648892 ms 
whole laserOdometry time 15.660182 ms 
 
mapping solver time 17.804502 ms 
mapping data assosiation time 17.045742 ms 
mapping solver time 13.428001 ms 
filter time 12.113858 ms 
mapping pub time 2.193488 ms 
whole mapping time 137.113815 ms +++++
mappingCount 1389 & avg mapping time 144.568565 ms ++++++++++++++++++++++
1317357969.178641081 WriteOdom aft_mapped_to_init
sort q time 7.017366 
seperate points time 12.442366 
scan registration time 23.390240 ms *************
map prepare time 4.053772 ms
map corner num 179553  surf num 63066 
publication time 8.541689 ms 
whole laserOdometry time 8.552329 ms 
 
build tree time 46.980716 ms 
mapping data assosiation time 18.205594 ms 
--------------------stamp1317357969.490612983
prepare time 10.723737 
sort q time 5.207723 
seperate points time 18.027309 
mapping solver time 19.873813 ms 
filter time 13.383055 ms 
--------------------stamp1317357969.594580888
points size 90565 
sort q time 5.186272 
seperate points time 12.210302 
publication time 9.537529 ms 
whole laserOdometry time 9.553000 ms 
 
mapping solver time 22.144391 ms 
mapping data assosiation time 16.643106 ms 
mapping solver time 12.567350 ms 
filter time 12.780428 ms 
map prepare time 4.190578 ms
map corner num 180319  surf num 63273 
sort q time 5.958440 
seperate points time 11.647850 
publication time 7.843011 ms 
whole laserOdometry time 7.857759 ms 
 
-----t: 0.0480855
OdomCount 2000 & avg odom time 0.045119 ms ++++++++++++++++++++++
1317357969.698548078 WriteOdom laser_odom_to_init
1317357969.698548078 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.275350 ms 
points size 91657 
mapping solver time 24.014788 ms 
filter time 14.890171 ms 
--------------------stamp1317357969.906481981
build tree time 39.508878 ms 
prepare time 10.602008 
mapping data assosiation time 21.120067 ms 
mapping solver time 21.339980 ms 
-----t: 0.0469927
OdomCount 2002 & avg odom time 0.045114 ms ++++++++++++++++++++++
mapping solver time 12.601388 ms 
filter time 11.640724 ms 
mapping pub time 2.023304 ms 
whole mapping time 134.594385 ms +++++
mappingCount 1393 & avg mapping time 144.570826 ms ++++++++++++++++++++++
1317357969.698548079 WriteOdom aft_mapped_to_init
points size 92824 
sort q time 5.833917 
seperate points time 12.277517 
scan registration time 34.062877 ms *************
publication time 9.526757 ms 
whole laserOdometry time 9.544879 ms 
 
-----t: 0.0577139
OdomCount 2003 & avg odom time 0.045120 ms ++++++++++++++++++++++
mapping solver time 24.640230 ms 
--------------------stamp1317357970.114368915
prepare time 11.154565 
mapping solver time 16.638455 ms 
filter time 16.248325 ms 
-----t: 0.0390912
OdomCount 2004 & avg odom time 0.045117 ms ++++++++++++++++++++++
1317357970.114368915 WriteOdom laser_odom_to_init
1317357970.114368915 WriteOdom aft_mapped_to_init_high_frec
build tree time 41.654752 ms 
points size 95152 
sort q time 6.260651 
seperate points time 12.994401 
mapping solver time 24.453019 ms 
-----t: 0.04382
OdomCount 2005 & avg odom time 0.045117 ms ++++++++++++++++++++++
mapping solver time 13.608226 ms 
mapping optimization time 125.723861 
add points time 0.725218 ms
mapping pub time 2.035696 ms 
whole mapping time 149.441486 ms +++++
mappingCount 1395 & avg mapping time 144.583591 ms ++++++++++++++++++++++
--------------------stamp1317357970.322326898
sort q time 5.990013 
seperate points time 12.174050 
publication time 10.646742 ms 
whole laserOdometry time 10.659004 ms -----t: 0.0427088
OdomCount 2006 & avg odom time 0.045115 ms ++++++++++++++++++++++
mapping solver time 18.808243 ms 
[0m[ INFO] [1718890053.322519641, 1317357970.421582566]: Received 243592 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890053.322561402, 1317357970.421582566]: Data saved to 1317357969386624.pcd[0m
mapping data assosiation time 21.295928 ms 
add points time 0.813827 ms
filter time 15.343128 ms 
mapping pub time 6.288212 ms 
whole mapping time 153.883058 ms +++++
mappingCount 1396 & avg mapping time 144.590255 ms ++++++++++++++++++++++
publication time 15.158308 ms 
whole laserOdometry time 15.171564 ms 
 
build tree time 46.747286 ms 
--------------------stamp1317357970.530257940
mapping data assosiation time 20.879847 ms 
scan registration time 25.294125 ms *************
mapping solver time 25.596725 ms 
-----t: 0.0461561
OdomCount 2008 & avg odom time 0.045113 ms ++++++++++++++++++++++
mapping solver time 20.086544 ms 
filter time 11.076480 ms 
points size 98705 
sort q time 6.158426 
seperate points time 13.180882 
publication time 8.633373 ms 
whole laserOdometry time 8.649358 ms 
 
build tree time 47.228737 ms 
-----t: 0.0394007
OdomCount 2009 & avg odom time 0.045110 ms ++++++++++++++++++++++
1317357970.634202003 WriteOdom laser_odom_to_init
1317357970.634202003 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.044195 ms 
--------------------stamp1317357970.738168001
sort q time 7.691366 
seperate points time 19.066674 
publication time 13.060229 ms 
whole laserOdometry time 13.074675 ms 
 
-----t: 0.0535012
OdomCount 2010 & avg odom time 0.045114 ms ++++++++++++++++++++++
--------------------stamp1317357970.842112064
sort q time 5.886594 
seperate points time 13.235829 
publication time 7.064473 ms 
whole laserOdometry time 7.081572 ms 
 
1317357970.842112064 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.008473 ms 
mapping solver time 17.674302 ms 
points size 99243 
drop lidar frame in mapping for real time performance 
sort q time 5.960060 
seperate points time 13.121056 
map prepare time 3.891592 ms
map corner num 183922  surf num 64205 
scan registration time 25.937187 ms *************
publication time 7.978316 ms 
whole laserOdometry time 7.991764 ms 
 
-----t: 0.0480046
OdomCount 2012 & avg odom time 0.045111 ms ++++++++++++++++++++++
1317357970.946028947 WriteOdom laser_odom_to_init
1317357970.946028947 WriteOdom aft_mapped_to_init_high_frec
build tree time 53.535150 ms 
mapping data assosiation time 23.049357 ms 
points size 98511 
mapping solver time 24.791972 ms 
publication time 8.904181 ms -----t: 0.0495269
OdomCount 2013 & avg odom time 0.045113 ms ++++++++++++++++++++++
1317357971.049947023 WriteOdom laser_odom_to_init
1317357971.049947023 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.554666 ms 
mapping optimization time 152.514154 
add points time 0.855867 ms
filter time 16.881352 ms 
map prepare time 3.890681 ms
map corner num 184411  surf num 64357 
points size 97218 
sort q time 7.217982 
seperate points time 13.106013 
build tree time 53.815382 ms 
mapping data assosiation time 23.987607 ms 
mapping solver time 19.466445 ms 
--------------------stamp1317357971.257786989
mapping data assosiation time 22.851321 ms 
sort q time 5.884520 
seperate points time 12.492010 
publication time 8.871665 ms 
whole laserOdometry time 8.888394 ms 
 
filter time 13.088428 ms 
[0m[ INFO] [1718890054.246615161, 1317357971.345570514]: Received 249431 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890054.246651766, 1317357971.345570514]: Data saved to 1317357970946028.pcd[0m
--------------------stamp1317357971.361704111
prepare time 12.357105 
sort q time 5.841037 
seperate points time 12.450060 
publication time 8.542407 ms 
whole laserOdometry time 8.557111 ms 
 
mapping pub time 87.149469 ms 
whole mapping time 264.188068 ms +++++
mappingCount 1401 & avg mapping time 144.736201 ms ++++++++++++++++++++++
1317357970.946028948 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 41.444955 ms 
points size 95286 
prepare time 13.177000 
mapping data assosiation time 22.703974 ms 
sort q time 5.626702 
seperate points time 13.128898 
mapping solver time 23.920785 ms 
mapping data assosiation time 24.042315 ms 
-----t: 0.0563031
OdomCount 2017 & avg odom time 0.045118 ms ++++++++++++++++++++++
filter time 11.662518 ms 
points size 93165 
build tree time 41.188110 ms 
publication time 8.137896 ms 
whole laserOdometry time 8.150103 ms 
 
mapping data assosiation time 24.716309 ms 
mapping solver time 19.926911 ms 
mapping data assosiation time 17.387190 ms 
points size 91175 
mapping solver time 21.660086 ms 
filter time 10.719443 ms 
publication time 9.071866 ms 
whole laserOdometry time 9.087115 ms 
 
build tree time 31.691784 ms 
mapping data assosiation time 20.143437 ms 
--------------------stamp1317357971.777283906
points size 90064 
prepare time 10.160766 
mapping solver time 21.514349 ms 
mapping data assosiation time 23.790067 ms 
mapping solver time 19.002762 ms 
filter time 11.699432 ms 
--------------------stamp1317357971.881203889
prepare time 10.433119 
scan registration time 24.726680 ms *************
mapping data assosiation time 23.740707 ms 
publication time 7.753543 ms 
whole laserOdometry time 7.764628 ms 
 
mapping solver time 24.465251 ms 
mapping data assosiation time 19.567199 ms 
mapping solver time 18.228244 ms 
points size 89512 
mapping pub time 2.349432 ms 
whole mapping time 155.163667 ms +++++
mappingCount 1405 & avg mapping time 144.739239 ms ++++++++++++++++++++++
publication time 11.411148 ms 
whole laserOdometry time 11.428976 ms 
 
-----t: 0.0507736
OdomCount 2022 & avg odom time 0.045117 ms ++++++++++++++++++++++
1317357971.985121965 WriteOdom laser_odom_to_init
build tree time 56.999654 ms 
--------------------stamp1317357972.089063882
sort q time 5.959016 
seperate points time 11.626461 
mapping data assosiation time 23.880299 ms 
mapping solver time 24.787119 ms 
filter time 12.712981 ms 
map prepare time 3.349592 ms
map corner num 190662  surf num 63493 
sort q time 6.580709 
seperate points time 12.233126 
scan registration time 23.989055 ms *************
build tree time 50.386152 ms 
mapping data assosiation time 21.314676 ms 
mapping solver time 18.572152 ms 
--------------------stamp1317357972.296924114
points size 94088 
scan registration time 35.606017 ms *************
publication time 10.465748 ms 
whole laserOdometry time 10.481972 ms 
 
build tree time 44.512082 ms 
--------------------stamp1317357972.400844097
prepare time 10.798027 
sort q time 6.107386 
seperate points time 12.668900 
scan registration time 27.973507 ms *************
publication time 17.489381 ms 
whole laserOdometry time 17.506423 ms 
 
-----t: 0.0494112
OdomCount 2026 & avg odom time 0.045133 ms ++++++++++++++++++++++
mapping solver time 19.021100 ms 
filter time 11.851928 ms 
--------------------stamp1317357972.504786968
prepare time 11.742696 
sort q time 5.468850 
seperate points time 12.331443 
build tree time 52.001304 ms 
-----t: 0.046773
OdomCount 2027 & avg odom time 0.045134 ms ++++++++++++++++++++++
mapping solver time 16.592517 ms 
--------------------stamp1317357972.608728885
mapping solver time 19.553471 ms 
filter time 18.032551 ms 
-----t: 0.0391008
OdomCount 2028 & avg odom time 0.045131 ms ++++++++++++++++++++++
build tree time 47.724456 ms 
points size 87098 
sort q time 8.341156 
seperate points time 14.741935 
publication time 11.061470 ms 
whole laserOdometry time 11.078723 ms 
 
mapping data assosiation time 22.912266 ms 
mapping solver time 14.044800 ms 
filter time 11.412417 ms 
mapping pub time 2.050050 ms 
whole mapping time 143.489530 ms +++++
mappingCount 1410 & avg mapping time 144.778902 ms ++++++++++++++++++++++
1317357972.504786968 WriteOdom aft_mapped_to_init
--------------------stamp1317357972.816589117
sort q time 5.160337 
seperate points time 10.897160 
scan registration time 22.554834 ms *************
build tree time 48.705386 ms 
-----t: 0.0386142
OdomCount 2030 & avg odom time 0.045123 ms ++++++++++++++++++++++
mapping solver time 17.109443 ms 
mapping data assosiation time 16.495644 ms 
--------------------stamp1317357972.920531988
sort q time 4.198011 
seperate points time 9.495674 
map prepare time 3.089745 ms
map corner num 192951  surf num 64122 
publication time 10.149797 ms 
whole laserOdometry time 10.160929 ms 
 
build tree time 44.004142 ms 
mapping data assosiation time 16.063162 ms 
--------------------stamp1317357973.024476051
mapping solver time 20.577168 ms 
mapping data assosiation time 21.576754 ms 
-----t: 0.0366794
OdomCount 2032 & avg odom time 0.045113 ms ++++++++++++++++++++++
filter time 11.802263 ms 
--------------------stamp1317357973.128443956
build tree time 42.404166 ms 
sort q time 4.480294 
seperate points time 10.812760 
publication time 7.236297 ms 
whole laserOdometry time 7.250718 ms 
 
mapping solver time 23.426453 ms 
mapping data assosiation time 18.250353 ms 
mapping solver time 17.636099 ms 
filter time 12.725681 ms 
sort q time 4.607160 
seperate points time 11.008921 
mapping data assosiation time 39.612563 ms 
sort q time 7.421774 
seperate points time 38.564425 
scan registration time 58.491334 ms *************
publication time 25.006530 ms 
whole laserOdometry time 25.079661 ms 
 
points size 78635 
sort q time 14.025828 
seperate points time 20.334224 
mapping optimization time 259.258566 
map prepare time 9.169218 ms
map corner num 194106  surf num 64541 
sort q time 7.467849 
seperate points time 23.356464 
mapping solver time 18.173558 ms 
prepare time 14.721066 
mapping solver time 18.619342 ms 
mapping optimization time 145.041047 
filter time 18.742226 ms 
-----t: 0.029645
OdomCount 2038 & avg odom time 0.045199 ms ++++++++++++++++++++++
1317357973.648277044 WriteOdom laser_odom_to_init
1317357973.648277044 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357973.752243995
sort q time 4.758094 
seperate points time 10.695515 
publication time 5.898374 ms 
whole laserOdometry time 5.913704 ms 
 
-----t: 0.0349039
OdomCount 2039 & avg odom time 0.045194 ms ++++++++++++++++++++++
mapping solver time 27.319576 ms 
mapping data assosiation time 18.021700 ms 
mapping solver time 17.243829 ms 
--------------------stamp1317357973.856209993
points size 81911 
sort q time 5.819996 
seperate points time 25.358507 
publication time 10.318811 ms 
whole laserOdometry time 10.333759 ms 
 
mapping data assosiation time 18.219153 ms 
mapping solver time 17.078075 ms 
points size 82297 
mapping data assosiation time 21.875864 ms 
publication time 8.782412 ms 
whole laserOdometry time 8.799019 ms 
 
-----t: 0.0457422
OdomCount 2041 & avg odom time 0.045196 ms ++++++++++++++++++++++
map prepare time 2.960228 ms
map corner num 195686  surf num 65115 
--------------------stamp1317357974.064143896
build tree time 44.625097 ms 
scan registration time 22.530241 ms *************
mapping data assosiation time 22.780998 ms 
publication time 8.038056 ms 
whole laserOdometry time 8.052438 ms 
 
mapping solver time 24.297579 ms 
mapping data assosiation time 19.387659 ms 
mapping solver time 18.220036 ms 
points size 82418 
sort q time 4.456781 
seperate points time 9.999626 
publication time 7.656587 ms 
whole laserOdometry time 7.671875 ms 
 
-----t: 0.0487087
OdomCount 2043 & avg odom time 0.045194 ms ++++++++++++++++++++++
build tree time 54.907361 ms 
mapping data assosiation time 18.667966 ms 
[0m[ INFO] [1718890057.166394393, 1317357974.261501033]: Received 260027 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890057.166464765, 1317357974.261501033]: Data saved to 1317357973544308.pcd[0m
points size 82569 
sort q time 5.410098 
seperate points time 11.083969 
mapping data assosiation time 23.377588 ms -----t: 0.036989
OdomCount 2044 & avg odom time 0.045190 ms ++++++++++++++++++++++
mapping solver time 23.695472 ms 
mapping optimization time 152.490578 
add points time 0.721620 ms
mapping pub time 1.854081 ms 
whole mapping time 171.325798 ms +++++
mappingCount 1419 & avg mapping time 144.939678 ms ++++++++++++++++++++++
--------------------stamp1317357974.376023054
prepare time 9.550309 
sort q time 4.861428 
seperate points time 11.522637 
scan registration time 24.269926 ms *************
build tree time 47.600958 ms 
-----t: 0.0341011
OdomCount 2045 & avg odom time 0.045185 ms ++++++++++++++++++++++
mapping solver time 19.508221 ms 
mapping data assosiation time 18.799172 ms 
--------------------stamp1317357974.479963064
sort q time 4.985369 
seperate points time 9.979833 
map prepare time 3.469034 ms
map corner num 197118  surf num 65619 
-----t: 0.039029
OdomCount 2046 & avg odom time 0.045182 ms ++++++++++++++++++++++
build tree time 45.878626 ms 
mapping data assosiation time 19.479353 ms 
points size 86170 
mapping solver time 25.184833 ms 
publication time 8.201293 ms 
whole laserOdometry time 8.234715 ms 
 
mapping solver time 21.014876 ms 
filter time 11.616882 ms 
--------------------stamp1317357974.687870979
sort q time 5.669547 
seperate points time 11.912548 
scan registration time 22.121296 ms *************
-----t: 0.0395004
OdomCount 2048 & avg odom time 0.045174 ms ++++++++++++++++++++++
map prepare time 3.056410 ms
map corner num 197616  surf num 65800 
--------------------stamp1317357974.791815042
points size 89797 
sort q time 6.184118 
seperate points time 14.473389 
scan registration time 28.277748 ms *************
mapping data assosiation time 23.791600 ms 
mapping solver time 23.158087 ms 
mapping data assosiation time 20.233244 ms 
mapping solver time 14.356227 ms 
filter time 14.204849 ms 
sort q time 5.231044 
seperate points time 11.455832 
publication time 9.685121 ms 
whole laserOdometry time 9.698482 ms 
 
-----t: 0.0366289
OdomCount 2050 & avg odom time 0.045168 ms ++++++++++++++++++++++
1317357974.895781993 WriteOdom laser_odom_to_init
1317357974.895781993 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.795105 ms 
--------------------stamp1317357974.999749898
points size 92403 
mapping data assosiation time 25.275324 ms 
mapping solver time 22.956349 ms 
filter time 12.916905 ms 
--------------------stamp1317357975.103717088
build tree time 46.898859 ms 
publication time 9.221066 ms 
whole laserOdometry time 9.235544 ms 
 
mapping solver time 27.461906 ms 
[0m[ INFO] [1718890058.087916330, 1317357975.182855370]: Received 263416 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890058.087956545, 1317357975.182855370]: Data saved to 1317357974376023.pcd[0m
--------------------stamp1317357975.207681894
mapping solver time 25.940737 ms 
sort q time 5.550773 
seperate points time 13.058691 
1317357974.895781994 WriteOdom aft_mapped_to_init
publication time 17.159394 ms 
whole laserOdometry time 17.175826 ms 
 
-----t: 0.0565195
OdomCount 2053 & avg odom time 0.045168 ms ++++++++++++++++++++++
build tree time 49.193183 ms 
--------------------stamp1317357975.311650037
mapping data assosiation time 22.859970 ms 
sort q time 5.915095 
seperate points time 13.312001 
publication time 9.105708 ms 
whole laserOdometry time 9.131828 ms 
 
mapping solver time 17.743100 ms 
filter time 12.030548 ms 
--------------------stamp1317357975.415616989
sort q time 6.939404 
seperate points time 14.842407 
build tree time 64.923428 ms 
-----t: 0.0641486
OdomCount 2055 & avg odom time 0.045177 ms ++++++++++++++++++++++
1317357975.415616989 WriteOdom laser_odom_to_init
1317357975.415616989 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.969432 ms 
--------------------stamp1317357975.519608020
prepare time 11.277623 
sort q time 6.543127 
seperate points time 13.917362 
mapping solver time 17.922785 ms 
-----t: 0.0452611
OdomCount 2056 & avg odom time 0.045177 ms ++++++++++++++++++++++
1317357975.519608020 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357975.623599052
prepare time 11.550526 
sort q time 6.037718 
seperate points time 14.201237 
mapping data assosiation time 26.553127 ms 
-----t: 0.0511685
OdomCount 2057 & avg odom time 0.045180 ms ++++++++++++++++++++++
mapping solver time 27.564735 ms 
mapping data assosiation time 19.955027 ms 
--------------------stamp1317357975.727564096
mapping solver time 21.358488 ms 
filter time 14.578327 ms 
publication time 12.681229 ms 
whole laserOdometry time 12.694423 ms 
 
build tree time 47.493533 ms 
mapping data assosiation time 20.427577 ms 
points size 99009 
mapping solver time 23.089295 ms 
scan registration time 35.790074 ms *************
mapping data assosiation time 25.315044 ms 
publication time 10.134859 ms 
whole laserOdometry time 10.156577 ms 
 
mapping solver time 22.719309 ms 
filter time 11.802747 ms 
mapping pub time 2.121970 ms 
whole mapping time 159.510144 ms +++++
mappingCount 1428 & avg mapping time 145.107276 ms ++++++++++++++++++++++
1317357975.623599052 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357975.935426950
prepare time 13.909164 
scan registration time 34.121893 ms *************
publication time 8.176055 ms 
whole laserOdometry time 8.188637 ms 
 
mapping solver time 18.498948 ms 
--------------------stamp1317357976.039370059
prepare time 12.316536 
mapping solver time 22.057676 ms 
filter time 19.811555 ms 
map prepare time 3.465007 ms
map corner num 201226  surf num 66888 
[0m[ INFO] [1718890059.035008359, 1317357976.129885825]: Received 266558 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890059.035066140, 1317357976.129885825]: Data saved to 1317357975207681.pcd[0m
build tree time 57.695079 ms 
publication time 16.669735 ms 
whole laserOdometry time 16.684956 ms 
 
mapping solver time 42.079285 ms 
mapping data assosiation time 24.677530 ms 
points size 101043 
mapping solver time 25.008855 ms 
scan registration time 35.999104 ms *************
map prepare time 4.279808 ms
map corner num 201643  surf num 67030 
-----t: 0.0711567
OdomCount 2063 & avg odom time 0.045190 ms ++++++++++++++++++++++
--------------------stamp1317357976.351147890
points size 100112 
sort q time 6.690504 
seperate points time 15.023254 
scan registration time 35.866835 ms *************
-----t: 0.0383758
OdomCount 2064 & avg odom time 0.045187 ms ++++++++++++++++++++++
1317357976.351147890 WriteOdom laser_odom_to_init
1317357976.351147890 WriteOdom aft_mapped_to_init_high_frec
publication time 10.427983 ms 
whole laserOdometry time 10.441912 ms 
 
mapping data assosiation time 20.499264 ms 
mapping solver time 19.724800 ms 
points size 97307 
filter time 18.171014 ms 
map prepare time 4.981268 ms
map corner num 202101  surf num 67170 
publication time 10.998841 ms 
whole laserOdometry time 11.012684 ms 
 
-----t: 0.04714
OdomCount 2065 & avg odom time 0.045188 ms ++++++++++++++++++++++
build tree time 49.705692 ms 
--------------------stamp1317357976.558986902
points size 95416 
sort q time 5.486233 
seperate points time 13.734326 
mapping solver time 25.753202 ms 
scan registration time 35.607482 ms *************
mapping data assosiation time 25.075354 ms 
mapping solver time 16.674768 ms 
filter time 11.925987 ms 
map prepare time 3.161717 ms
map corner num 202474  surf num 67264 
--------------------stamp1317357976.662906885
sort q time 6.225290 
seperate points time 12.394297 
scan registration time 25.037850 ms *************
publication time 9.212272 ms 
whole laserOdometry time 9.226276 ms 
 
build tree time 55.333295 ms 
-----t: 0.0413455
OdomCount 2067 & avg odom time 0.045187 ms ++++++++++++++++++++++
mapping data assosiation time 23.113541 ms 
mapping solver time 18.213815 ms 
--------------------stamp1317357976.766824960
points size 93501 
mapping solver time 18.164821 ms 
mapping optimization time 136.730587 
add points time 0.743197 ms
mapping pub time 2.680176 ms 
whole mapping time 162.729165 ms +++++
mappingCount 1433 & avg mapping time 145.214195 ms ++++++++++++++++++++++
-----t: 0.0583398
OdomCount 2068 & avg odom time 0.045193 ms ++++++++++++++++++++++
--------------------stamp1317357976.870742082
sort q time 4.795997 
seperate points time 10.128524 
publication time 10.188166 ms 
whole laserOdometry time 10.223782 ms 
 
mapping solver time 30.458604 ms 
mapping data assosiation time 22.728054 ms 
mapping optimization time 146.516640 
filter time 15.273694 ms 
sort q time 6.854258 
seperate points time 15.428961 
publication time 11.276539 ms 
whole laserOdometry time 11.301898 ms 
 
-----t: 0.0535835
OdomCount 2070 & avg odom time 0.045199 ms ++++++++++++++++++++++
build tree time 60.721621 ms 
mapping data assosiation time 20.436287 ms 
points size 92975 
sort q time 5.823276 
seperate points time 13.086421 
[0m[ INFO] [1718890060.013066298, 1317357977.108444192]: Received 269271 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890060.013114037, 1317357977.108444192]: Data saved to 1317357976143312.pcd[0m
mapping solver time 17.481306 ms 
mapping optimization time 147.217871 
add points time 0.766460 ms
filter time 18.575907 ms 
mapping pub time 2.345875 ms 
whole mapping time 173.510256 ms +++++
mappingCount 1435 & avg mapping time 145.250793 ms ++++++++++++++++++++++
-----t: 0.0683313
OdomCount 2071 & avg odom time 0.045210 ms ++++++++++++++++++++++
--------------------stamp1317357977.182667970
prepare time 10.476342 
sort q time 6.275548 
seperate points time 12.570453 
build tree time 53.864764 ms 
mapping data assosiation time 25.559716 ms 
-----t: 0.0465595
OdomCount 2072 & avg odom time 0.045210 ms ++++++++++++++++++++++
1317357977.182667970 WriteOdom laser_odom_to_init
1317357977.182667970 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.617626 ms 
--------------------stamp1317357977.286634922
prepare time 10.985216 
sort q time 6.252721 
seperate points time 11.774803 
scan registration time 27.109397 ms *************
mapping solver time 24.367406 ms 
mapping optimization time 148.434195 
add points time 0.839367 ms
filter time 19.071675 ms 
map prepare time 4.008723 ms
map corner num 204205  surf num 67991 
-----t: 0.0732441
OdomCount 2073 & avg odom time 0.045224 ms ++++++++++++++++++++++
--------------------stamp1317357977.390602111
sort q time 4.950543 
seperate points time 10.224751 
mapping data assosiation time 25.351606 ms 
-----t: 0.0470956
OdomCount 2074 & avg odom time 0.045225 ms ++++++++++++++++++++++
mapping solver time 17.831713 ms 
points size 93674 
map prepare time 3.884230 ms
map corner num 204673  surf num 68246 
-----t: 0.0442964
OdomCount 2075 & avg odom time 0.045224 ms ++++++++++++++++++++++
build tree time 54.210011 ms 
mapping data assosiation time 20.663545 ms 
points size 95754 
sort q time 7.138896 
seperate points time 15.691197 
mapping solver time 24.033289 ms 
filter time 11.816006 ms 
--------------------stamp1317357977.702452898
prepare time 13.144610 
sort q time 6.732258 
seperate points time 13.860646 
build tree time 55.056502 ms 
-----t: 0.0497849
OdomCount 2077 & avg odom time 0.045224 ms ++++++++++++++++++++++
mapping solver time 17.676713 ms 
--------------------stamp1317357977.806396961
prepare time 11.524014 
mapping solver time 17.519604 ms 
filter time 16.179338 ms 
-----t: 0.0484535
OdomCount 2078 & avg odom time 0.045225 ms ++++++++++++++++++++++
build tree time 47.827878 ms 
prepare time 11.010451 
mapping data assosiation time 24.622017 ms 
sort q time 14.478961 
seperate points time 21.628163 
mapping solver time 24.868850 ms 
-----t: 0.0483086
OdomCount 2079 & avg odom time 0.045227 ms ++++++++++++++++++++++
mapping data assosiation time 27.342747 ms 
mapping solver time 18.633513 ms 
--------------------stamp1317357978.014306068
prepare time 12.253141 
map prepare time 3.805232 ms
map corner num 206199  surf num 69218 
publication time 9.043587 ms 
whole laserOdometry time 9.054140 ms 
 
build tree time 58.306435 ms 
[0m[ INFO] [1718890060.997747687, 1317357978.094527365]: Received 272196 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890060.997776831, 1317357978.094527365]: Data saved to 1317357976974690.pcd[0m
mapping data assosiation time 20.888426 ms 
--------------------stamp1317357978.118271112
mapping solver time 24.431565 ms 
prepare time 13.994140 
sort q time 6.327490 
seperate points time 13.837616 
mapping data assosiation time 28.147710 ms 
publication time 9.727863 ms 
whole laserOdometry time 9.739156 ms 
 
mapping solver time 24.886034 ms 
filter time 18.173471 ms 
--------------------stamp1317357978.222285985
points size 100929 
sort q time 6.154627 
seperate points time 21.034931 
publication time 10.726802 ms 
whole laserOdometry time 10.738789 ms 
 
map prepare time 4.152232 ms
map corner num 206660  surf num 69510 
-----t: 0.0751475
OdomCount 2082 & avg odom time 0.045248 ms ++++++++++++++++++++++
--------------------stamp1317357978.326350927
prepare time 12.805991 
sort q time 7.054559 
seperate points time 13.501055 
publication time 10.374116 ms 
whole laserOdometry time 10.403432 ms 
 
mapping data assosiation time 27.533984 ms 
-----t: 0.0592113
OdomCount 2083 & avg odom time 0.045255 ms ++++++++++++++++++++++
mapping solver time 29.408568 ms 
--------------------stamp1317357978.430437088
points size 99807 
prepare time 13.455249 
sort q time 6.988379 
seperate points time 14.368692 
filter time 19.736051 ms 
map prepare time 4.567335 ms
map corner num 207192  surf num 69913 
--------------------stamp1317357978.534570932
prepare time 12.526799 
publication time 7.728506 ms 
whole laserOdometry time 7.744623 ms 
 
-----t: 0.0730714
OdomCount 2085 & avg odom time 0.045271 ms ++++++++++++++++++++++
mapping data assosiation time 28.358593 ms 
points size 98879 
prepare time 11.958737 
scan registration time 31.515742 ms *************
mapping pub time 2.664629 ms 
whole mapping time 192.656652 ms +++++
mappingCount 1443 & avg mapping time 145.484297 ms ++++++++++++++++++++++
-----t: 0.0508681
OdomCount 2086 & avg odom time 0.045274 ms ++++++++++++++++++++++
build tree time 51.002193 ms 
points size 98645 
mapping data assosiation time 27.832094 ms 
publication time 9.666509 ms 
whole laserOdometry time 9.690962 ms 
 
mapping data assosiation time 27.661879 ms 
mapping solver time 16.960069 ms 
points size 98628 
prepare time 13.956082 
map prepare time 4.536156 ms
map corner num 208605  surf num 70895 
publication time 10.778686 ms 
whole laserOdometry time 10.811387 ms 
 
build tree time 52.503322 ms 
--------------------stamp1317357978.951014041
points size 99227 
sort q time 6.039307 
seperate points time 13.955183 
publication time 9.719933 ms 
whole laserOdometry time 9.733542 ms 
 
mapping data assosiation time 30.449870 ms 
mapping optimization time 156.436320 
add points time 0.932205 ms
mapping pub time 2.458583 ms 
whole mapping time 181.700219 ms +++++
mappingCount 1445 & avg mapping time 145.537508 ms ++++++++++++++++++++++
prepare time 12.362992 
sort q time 6.651870 
seperate points time 14.332750 
build tree time 34.797251 ms 
-----t: 0.0452472
OdomCount 2090 & avg odom time 0.045275 ms ++++++++++++++++++++++
1317357979.055104970 WriteOdom laser_odom_to_init
1317357979.055104970 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.489318 ms 
points size 102718 
mapping data assosiation time 26.602903 ms 
mapping solver time 29.248899 ms 
-----t: 0.0429532
OdomCount 2091 & avg odom time 0.045274 ms ++++++++++++++++++++++
map prepare time 2.985474 ms
map corner num 127863  surf num 43444 
--------------------stamp1317357979.263354063
points size 103850 
sort q time 6.150058 
seperate points time 14.261368 
publication time 9.838015 ms 
whole laserOdometry time 9.851870 ms 
 
mapping solver time 34.335037 ms 
mapping data assosiation time 27.653436 ms 
points size 103518 
mapping solver time 28.199826 ms 
filter time 12.686020 ms 
publication time 10.207827 ms 
whole laserOdometry time 10.223605 ms 
 
--------------------stamp1317357979.471664905
prepare time 11.917981 
sort q time 6.383293 
seperate points time 14.531766 
mapping solver time 42.781156 ms 
publication time 11.338782 ms -----t: 0.0643155
OdomCount 2094 & avg odom time 0.045294 ms ++++++++++++++++++++++
mapping optimization time 160.744792 
points size 103309 
map prepare time 4.475459 ms
map corner num 129588  surf num 44657 
publication time 10.056771 ms 
whole laserOdometry time 10.091523 ms 
 
mapping data assosiation time 30.193551 ms 
--------------------stamp1317357979.680124998
sort q time 6.665868 
seperate points time 30.248414 
-----t: 0.0530651
OdomCount 2096 & avg odom time 0.045299 ms ++++++++++++++++++++++
mapping solver time 30.026330 ms 
filter time 11.333456 ms 
prepare time 12.183823 
build tree time 26.069079 ms 
sort q time 15.894970 
seperate points time 23.100389 
mapping data assosiation time 33.730870 ms 
mapping solver time 30.798481 ms 
--------------------stamp1317357979.888609886
prepare time 13.135863 
mapping data assosiation time 34.534644 ms 
mapping solver time 37.996935 ms 
filter time 9.259742 ms 
mapping pub time 2.293634 ms 
whole mapping time 181.102334 ms +++++
mappingCount 1450 & avg mapping time 145.653342 ms ++++++++++++++++++++++
1317357979.575870991 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.156844 ms
map corner num 131377  surf num 45830 
--------------------stamp1317357979.992818117
points size 103150 
sort q time 6.024843 
seperate points time 12.002050 
mapping data assosiation time 35.721438 ms 
-----t: 0.0595259
OdomCount 2099 & avg odom time 0.045315 ms ++++++++++++++++++++++
[0m[ INFO] [1718890062.983889526, 1317357980.084812131]: Received 171307 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890062.983940961, 1317357980.084812131]: Data saved to 1317357978846926.pcd[0m
--------------------stamp1317357980.097047090
points size 103237 
sort q time 12.446729 
seperate points time 25.647689 
mapping solver time 41.145744 ms 
mapping pub time 4.532463 ms 
whole mapping time 201.178512 ms +++++
mappingCount 1451 & avg mapping time 145.691611 ms ++++++++++++++++++++++
--------------------stamp1317357980.201253890
points size 103141 
build tree time 33.202761 ms 
sort q time 7.268076 
seperate points time 13.614588 
mapping data assosiation time 38.504093 ms 
publication time 17.041048 ms 
whole laserOdometry time 17.053188 ms 
 
mapping solver time 37.357291 ms 
--------------------stamp1317357980.305389881
points size 102853 
prepare time 13.906090 
sort q time 5.965127 
seperate points time 14.549238 
publication time 9.642828 ms 
whole laserOdometry time 9.691113 ms 
 
mapping solver time 46.416978 ms 
filter time 8.985487 ms 
map prepare time 3.153924 ms
map corner num 133359  surf num 47220 
--------------------stamp1317357980.409499883
points size 102768 
sort q time 5.910172 
seperate points time 27.963409 
publication time 10.678344 ms 
whole laserOdometry time 10.689972 ms 
 
mapping solver time 39.170810 ms 
--------------------stamp1317357980.513607978
points size 102877 
mapping data assosiation time 35.089988 ms 
mapping solver time 25.621844 ms 
publication time 11.042130 ms 
whole laserOdometry time 11.054518 ms 
 
map prepare time 3.417500 ms
map corner num 134210  surf num 47760 
build tree time 27.043000 ms 
points size 103038 
sort q time 6.009068 
seperate points time 14.676593 
mapping data assosiation time 36.439520 ms 
scan registration time 34.896438 ms *************
publication time 14.005002 ms 
whole laserOdometry time 14.019442 ms 
 
mapping solver time 45.868547 ms 
--------------------stamp1317357980.721736907
points size 103147 
sort q time 14.747690 
seperate points time 23.638812 
mapping solver time 39.320692 ms 
mapping optimization time 188.235403 
add points time 0.994608 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357980.825774908
points size 102932 
sort q time 6.111138 
seperate points time 22.932215 
scan registration time 42.777959 ms *************
mapping data assosiation time 40.940615 ms 
publication time 11.107327 ms 
whole laserOdometry time 11.119165 ms 
 
mapping solver time 43.582143 ms 
--------------------stamp1317357980.929837942
points size 102510 
mapping data assosiation time 38.842018 ms 
scan registration time 30.080353 ms *************
mapping solver time 38.429504 ms 
filter time 13.358804 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.335958 ms
map corner num 136088  surf num 48763 
--------------------stamp1317357981.033900976
prepare time 11.973133 
sort q time 6.433645 
seperate points time 14.602617 
publication time 9.162505 ms 
whole laserOdometry time 9.176186 ms 
 
-----t: 0.06538
OdomCount 2109 & avg odom time 0.045372 ms ++++++++++++++++++++++
1317357981.033900976 WriteOdom laser_odom_to_init
1317357981.033900976 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357981.137989044
sort q time 6.740960 
seperate points time 13.257751 
mapping data assosiation time 38.254099 ms 
scan registration time 30.700425 ms *************
publication time 11.014649 ms 
whole laserOdometry time 11.035486 ms 
 
-----t: 0.0465757
OdomCount 2110 & avg odom time 0.045372 ms ++++++++++++++++++++++
1317357981.137989044 WriteOdom laser_odom_to_init
1317357981.137989044 WriteOdom aft_mapped_to_init_high_frec
filter time 9.889057 ms 
mapping pub time 4.837552 ms 
whole mapping time 203.998151 ms +++++
mappingCount 1456 & avg mapping time 145.901473 ms ++++++++++++++++++++++
1317357980.825774908 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357981.242124080
prepare time 11.364554 
sort q time 7.356639 
seperate points time 15.757893 
publication time 11.870759 ms 
whole laserOdometry time 11.885342 ms 
 
mapping data assosiation time 49.403352 ms 
--------------------stamp1317357981.346260070
points size 103564 
prepare time 14.175532 
sort q time 6.101808 
seperate points time 14.209252 
mapping data assosiation time 40.137586 ms 
publication time 11.185379 ms 
whole laserOdometry time 11.201125 ms 
 
mapping solver time 25.067472 ms 
-----t: 0.0661025
OdomCount 2112 & avg odom time 0.045387 ms ++++++++++++++++++++++
--------------------stamp1317357981.450345993
points size 103657 
build tree time 32.915521 ms 
scan registration time 34.419286 ms *************
publication time 10.623874 ms 
whole laserOdometry time 10.636997 ms 
 
-----t: 0.0571533
OdomCount 2113 & avg odom time 0.045393 ms ++++++++++++++++++++++
mapping solver time 38.337173 ms 
points size 103642 
sort q time 6.112387 
seperate points time 13.831962 
mapping data assosiation time 46.038313 ms 
publication time 9.959540 ms 
whole laserOdometry time 9.973345 ms 
 
mapping solver time 36.664894 ms 
filter time 9.899339 ms 
mapping pub time 2.276472 ms 
whole mapping time 212.328249 ms +++++
mappingCount 1458 & avg mapping time 145.991254 ms ++++++++++++++++++++++
1317357981.242124081 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 103748 
sort q time 6.187798 
seperate points time 13.918452 
publication time 11.912198 ms 
whole laserOdometry time 11.924833 ms 
 
mapping data assosiation time 41.353761 ms 
--------------------stamp1317357981.762557029
points size 103789 
prepare time 14.728407 
mapping solver time 42.395409 ms 
sort q time 6.168381 
seperate points time 14.359713 
mapping data assosiation time 38.994036 ms 
-----t: 0.0736181
OdomCount 2116 & avg odom time 0.045417 ms ++++++++++++++++++++++
--------------------stamp1317357981.866547107
drop lidar frame in mapping for real time performance 
sort q time 6.431675 
seperate points time 14.057591 
build tree time 34.782712 ms 
publication time 11.444709 ms 
whole laserOdometry time 11.457421 ms 
 
-----t: 0.0671824
OdomCount 2117 & avg odom time 0.045427 ms ++++++++++++++++++++++
mapping data assosiation time 39.458738 ms 
--------------------stamp1317357981.970489025
points size 103776 
prepare time 11.444220 
sort q time 5.862952 
seperate points time 13.738468 
publication time 8.266947 ms 
whole laserOdometry time 8.281358 ms 
 
-----t: 0.044518
OdomCount 2118 & avg odom time 0.045427 ms ++++++++++++++++++++++
mapping data assosiation time 39.926531 ms 
mapping solver time 31.633569 ms 
points size 103721 
map prepare time 4.321706 ms
map corner num 140694  surf num 50759 
scan registration time 33.428429 ms *************
publication time 10.295310 ms 
whole laserOdometry time 10.309395 ms 
 
-----t: 0.0557215
OdomCount 2119 & avg odom time 0.045431 ms ++++++++++++++++++++++
1317357982.074359893 WriteOdom laser_odom_to_init
1317357982.074359893 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.369075 ms 
--------------------stamp1317357982.178138017
points size 103706 
sort q time 7.228952 
seperate points time 13.364972 
publication time 9.626823 ms 
whole laserOdometry time 9.640770 ms 
 
publication time 15.021341 ms 
whole laserOdometry time 15.035904 ms 
 
-----t: 0.0662505
OdomCount 2121 & avg odom time 0.045448 ms ++++++++++++++++++++++
mapping pub time 85.310676 ms 
whole mapping time 289.511943 ms +++++
mappingCount 1461 & avg mapping time 146.188167 ms ++++++++++++++++++++++
points size 103942 
sort q time 6.380518 
seperate points time 14.274275 
-----t: 0.0538898
OdomCount 2122 & avg odom time 0.045452 ms ++++++++++++++++++++++
mapping data assosiation time 37.841584 ms 
--------------------stamp1317357982.489268064
points size 104167 
mapping solver time 42.772826 ms 
scan registration time 51.327759 ms *************
mapping data assosiation time 42.755763 ms 
-----t: 0.0712385
OdomCount 2123 & avg odom time 0.045464 ms ++++++++++++++++++++++
1317357982.489268064 WriteOdom laser_odom_to_init
1317357982.489268064 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357982.592947006
drop lidar frame in mapping for real time performance 
sort q time 6.500311 
seperate points time 13.727722 
build tree time 35.877649 ms 
-----t: 0.0482371
OdomCount 2124 & avg odom time 0.045465 ms ++++++++++++++++++++++
mapping data assosiation time 34.527170 ms 
--------------------stamp1317357982.696602106
points size 104008 
sort q time 6.528105 
seperate points time 12.376008 
mapping solver time 43.915889 ms 
scan registration time 29.775931 ms *************
publication time 10.590721 ms 
whole laserOdometry time 10.605523 ms 
 
mapping data assosiation time 37.379449 ms 
-----t: 0.0639029
OdomCount 2125 & avg odom time 0.045474 ms ++++++++++++++++++++++
1317357982.696602106 WriteOdom laser_odom_to_init
1317357982.696602106 WriteOdom aft_mapped_to_init_high_frec
points size 103951 
scan registration time 33.149879 ms *************
build tree time 36.506523 ms 
-----t: 0.0589729
OdomCount 2126 & avg odom time 0.045480 ms ++++++++++++++++++++++
1317357982.800256967 WriteOdom laser_odom_to_init
1317357982.800256967 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 35.114598 ms 
--------------------stamp1317357982.903912067
points size 103788 
sort q time 6.122536 
seperate points time 14.393658 
mapping data assosiation time 37.192056 ms 
-----t: 0.0642225
OdomCount 2127 & avg odom time 0.045489 ms ++++++++++++++++++++++
1317357982.903912067 WriteOdom laser_odom_to_init
1317357982.903912067 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317357983.007587909
map prepare time 3.659329 ms
prepare time 12.155185 
map corner num 144795  surf num 52175 
sort q time 5.968572 
seperate points time 13.627915 
build tree time 37.248911 ms 
mapping data assosiation time 33.174465 ms 
--------------------stamp1317357983.111242055
points size 103884 
mapping solver time 29.823003 ms 
prepare time 11.821366 
sort q time 6.031586 
seperate points time 13.782434 
publication time 9.249284 ms 
whole laserOdometry time 9.266359 ms 
 
mapping data assosiation time 47.557939 ms 
-----t: 0.0568009
OdomCount 2129 & avg odom time 0.045493 ms ++++++++++++++++++++++
mapping solver time 32.195501 ms 
filter time 11.369207 ms 
prepare time 11.936410 
sort q time 6.094087 
seperate points time 13.230154 
build tree time 37.088753 ms 
-----t: 0.0501365
OdomCount 2130 & avg odom time 0.045495 ms ++++++++++++++++++++++
mapping data assosiation time 34.737343 ms 
--------------------stamp1317357983.318552970
prepare time 11.863202 
sort q time 6.161982 
seperate points time 14.974921 
publication time 12.413570 ms 
whole laserOdometry time 12.445510 ms 
 
mapping solver time 35.922559 ms 
filter time 12.785000 ms 
map prepare time 4.689433 ms
map corner num 146806  surf num 52841 
sort q time 5.843457 
seperate points time 13.874215 
build tree time 37.000945 ms 
-----t: 0.047931
OdomCount 2132 & avg odom time 0.045496 ms ++++++++++++++++++++++
mapping data assosiation time 32.923744 ms 
--------------------stamp1317357983.525863885
prepare time 11.838754 
mapping solver time 39.669283 ms 
publication time 8.550674 ms 
whole laserOdometry time 8.565174 ms 
 
mapping data assosiation time 37.603792 ms 
mapping solver time 28.859692 ms 
--------------------stamp1317357983.629589080
drop lidar frame in mapping for real time performance 
sort q time 6.146681 
seperate points time 14.227369 
build tree time 37.938583 ms mapping data assosiation time 34.182708 ms 
--------------------stamp1317357983.733314990
prepare time 12.640879 
mapping solver time 42.076298 ms 
sort q time 16.328770 
seperate points time 23.167608 
mapping data assosiation time 37.891309 ms 
mapping solver time 31.337765 ms 
filter time 14.353368 ms 
map prepare time 4.696400 ms
map corner num 148818  surf num 53493 
scan registration time 32.571604 ms *************
publication time 10.327851 ms 
whole laserOdometry time 10.343741 ms 
 
-----t: 0.0533413
OdomCount 2136 & avg odom time 0.045506 ms ++++++++++++++++++++++
mapping data assosiation time 35.811741 ms 
--------------------stamp1317357983.940769910
points size 104427 
sort q time 6.453074 
seperate points time 12.615715 
publication time 10.814922 ms 
whole laserOdometry time 10.828225 ms 
 
mapping data assosiation time 34.884958 ms 
-----t: 0.0785996
OdomCount 2137 & avg odom time 0.045521 ms ++++++++++++++++++++++
mapping solver time 40.457655 ms 
filter time 11.041820 ms 

publication time 8.854614 ms 
whole laserOdometry time 8.866786 ms 
 
-----t: 0.0538258
OdomCount 2138 & avg odom time 0.045525 ms ++++++++++++++++++++++
--------------------stamp1317357984.148271083
points size 104399 
sort q time 6.155152 
seperate points time 14.039201 
publication time 9.973342 ms 
whole laserOdometry time 9.987588 ms 
 
-----t: 0.0590744
OdomCount 2139 & avg odom time 0.045532 ms ++++++++++++++++++++++
--------------------stamp1317357984.252023935
points size 104460 
filter time 15.185540 ms 
publication time 10.311384 ms 
whole laserOdometry time 10.328899 ms 
 
build tree time 36.449089 ms 
--------------------stamp1317357984.355798959
points size 104323 
sort q time 7.527827 
seperate points time 14.275077 
publication time 10.298910 ms 
whole laserOdometry time 10.315099 ms 
 
1317357984.355798959 WriteOdom laser_odom_to_init
1317357984.355798959 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 39.077607 ms 
points size 104330 
mapping solver time 28.788332 ms 
filter time 14.752321 ms 
mapping pub time 6.991372 ms 
whole mapping time 220.269989 ms +++++
mappingCount 1471 & avg mapping time 146.617770 ms ++++++++++++++++++++++
1317357984.044519901 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718890067.409084492, 1317357984.502708806]: Received 206323 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890067.409138932, 1317357984.502708806]: Data saved to 1317357984044519.pcd[0m
drop lidar frame in mapping for real time performance 
-----t: 0.0709859
OdomCount 2142 & avg odom time 0.045548 ms ++++++++++++++++++++++
--------------------stamp1317357984.563419103
prepare time 13.917229 
sort q time 7.215569 
seperate points time 29.743867 
-----t: 0.0569266
OdomCount 2143 & avg odom time 0.045553 ms ++++++++++++++++++++++
mapping solver time 51.189890 ms 
points size 104662 
sort q time 6.169199 
seperate points time 15.077915 
publication time 15.333340 ms 
whole laserOdometry time 15.348280 ms 
 
-----t: 0.0545437
OdomCount 2144 & avg odom time 0.045558 ms ++++++++++++++++++++++
mapping solver time 41.933641 ms 
mapping optimization time 227.185089 
add points time 0.843945 ms
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
prepare time 26.468762 
sort q time 8.221025 
seperate points time 18.885060 
publication time 13.250656 ms 
whole laserOdometry time 13.279693 ms 
 
mapping data assosiation time 43.544426 ms 
points size 104086 
sort q time 6.676632 
seperate points time 13.838419 
mapping solver time 61.405451 ms 
-----t: 0.0687576
OdomCount 2146 & avg odom time 0.045584 ms ++++++++++++++++++++++
--------------------stamp1317357984.978712081
points size 103461 
sort q time 5.618783 
seperate points time 13.496544 
mapping pub time 2.544124 ms 
whole mapping time 254.012552 ms +++++
mappingCount 1473 & avg mapping time 146.760093 ms ++++++++++++++++++++++
1317357984.459597111 WriteOdom aft_mapped_to_init
-----t: 0.0843751
OdomCount 2147 & avg odom time 0.045602 ms ++++++++++++++++++++++
points size 102927 
sort q time 6.939487 
seperate points time 20.836782 
publication time 10.799709 ms 
whole laserOdometry time 10.815838 ms 
 
-----t: 0.0607138
OdomCount 2148 & avg odom time 0.045609 ms ++++++++++++++++++++++
mapping solver time 46.084840 ms 
--------------------stamp1317357985.186357975points size 102535 
mapping data assosiation time 41.839863 ms 
mapping solver time 28.074586 ms 
filter time 12.593359 ms 
-----t: 0.0657973
OdomCount 2149 & avg odom time 0.045619 ms ++++++++++++++++++++++
--------------------stamp1317357985.290182113
points size 102012 
sort q time 6.975459 
seperate points time 16.130230 
mapping data assosiation time 36.175946 ms 
-----t: 0.0559718
OdomCount 2150 & avg odom time 0.045624 ms ++++++++++++++++++++++
mapping solver time 37.446521 ms 
--------------------stamp1317357985.394005060
points size 101521 
sort q time 7.188335 
seperate points time 16.823587 
publication time 10.218724 ms 
whole laserOdometry time 10.234618 ms 
 
add points time 0.986676 ms
filter time 11.015088 ms 
map prepare time 3.935014 ms
map corner num 156208  surf num 55840 
points size 101165 
sort q time 6.387247 
seperate points time 14.195588 
build tree time 44.849467 ms 
-----t: 0.0517273
OdomCount 2152 & avg odom time 0.045631 ms ++++++++++++++++++++++
--------------------stamp1317357985.601624011
points size 100647 
sort q time 5.985854 
seperate points time 13.310492 
mapping data assosiation time 38.841308 ms 
mapping solver time 23.948448 ms 
filter time 9.988500 ms 
drop lidar frame in mapping for real time performance 
points size 99949 
sort q time 5.884330 
seperate points time 13.777997 
publication time 12.462261 ms 
whole laserOdometry time 12.482086 ms 
 
mapping data assosiation time 35.622434 ms 
--------------------stamp1317357985.809245109
points size 99129 
sort q time 6.811706 
seperate points time 15.803182 
mapping data assosiation time 40.435900 ms 
publication time 8.340601 ms 
whole laserOdometry time 8.358350 ms 
 
mapping solver time 24.112330 ms 
mapping optimization time 177.359226 
add points time 0.798974 ms
mapping pub time 2.257635 ms 
whole mapping time 194.036465 ms +++++
mappingCount 1477 & avg mapping time 146.933908 ms ++++++++++++++++++++++
--------------------stamp1317357985.913042068
prepare time 13.098041 
build tree time 37.801357 ms 
sort q time 5.913854 
seperate points time 12.616001 
publication time 8.569636 ms 
whole laserOdometry time 8.585507 ms 
 
mapping data assosiation time 37.505343 ms 
-----t: 0.0590403
OdomCount 2156 & avg odom time 0.045635 ms ++++++++++++++++++++++
1317357985.913042068 WriteOdom laser_odom_to_init
1317357985.913042068 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.184653 ms 
--------------------stamp1317357986.016844987
points size 98214 
mapping data assosiation time 34.611460 ms 
publication time 9.183928 ms 
whole laserOdometry time 9.196136 ms 
 
mapping solver time 36.723883 ms 
-----t: 0.0660194
OdomCount 2157 & avg odom time 0.045645 ms ++++++++++++++++++++++
1317357986.016844987 WriteOdom laser_odom_to_init
1317357986.016844987 WriteOdom aft_mapped_to_init_high_frec
filter time 14.680614 ms 
mapping pub time 2.324474 ms 
whole mapping time 205.620567 ms +++++
mappingCount 1478 & avg mapping time 146.973626 ms ++++++++++++++++++++++
1317357985.705423117 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317357986.120692014
points size 98255 
prepare time 10.226248 
sort q time 5.704573 
seperate points time 13.403904 
publication time 9.614820 ms 
whole laserOdometry time 9.629302 ms 
 
mapping solver time 32.544052 ms 
--------------------stamp1317357986.224560022
points size 97857 
sort q time 5.455513 
seperate points time 12.950257 
publication time 8.945506 ms 
whole laserOdometry time 8.957588 ms 
 
mapping solver time 31.317459 ms 
filter time 12.012535 ms 
--------------------stamp1317357986.328429937
points size 97538 
build tree time 35.395595 ms 
sort q time 5.472472 
seperate points time 12.300549 
scan registration time 31.016703 ms *************
mapping data assosiation time 34.224723 ms 
publication time 11.939177 ms 
whole laserOdometry time 11.950351 ms mapping solver time 41.411003 ms 
--------------------stamp1317357986.432301044
mapping data assosiation time 38.492183 ms 
sort q time 6.683331 
seperate points time 20.510202 
mapping solver time 35.728626 ms 
-----t: 0.040979
OdomCount 2161 & avg odom time 0.045670 ms ++++++++++++++++++++++
1317357986.432301044 WriteOdom laser_odom_to_init
1317357986.432301044 WriteOdom aft_mapped_to_init_high_frec
filter time 15.328931 ms 
mapping pub time 2.449204 ms 
whole mapping time 212.005469 ms +++++
mappingCount 1480 & avg mapping time 147.050400 ms ++++++++++++++++++++++
1317357986.120692015 WriteOdom aft_mapped_to_init
--------------------stamp1317357986.536195993
points size 96887 
prepare time 11.987994 
publication time 9.180033 ms 
whole laserOdometry time 9.196198 ms 
 
mapping data assosiation time 35.673749 ms 
-----t: 0.0739023
OdomCount 2162 & avg odom time 0.045683 ms ++++++++++++++++++++++
1317357986.536195993 WriteOdom laser_odom_to_init
1317357986.536195993 WriteOdom aft_mapped_to_init_high_frec
points size 97077 
sort q time 6.933652 
seperate points time 15.225024 
publication time 9.100640 ms 
whole laserOdometry time 9.115609 ms 
 
mapping solver time 35.191481 ms 
filter time 10.982011 ms 
--------------------stamp1317357986.744010925
prepare time 11.348112 
sort q time 5.424500 
seperate points time 12.974314 
publication time 17.043033 ms 
whole laserOdometry time 17.057316 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317357986.848023891
sort q time 5.849997 
seperate points time 13.255989 
mapping data assosiation time 33.713137 ms 
-----t: 0.0688913
OdomCount 2165 & avg odom time 0.045704 ms ++++++++++++++++++++++
1317357986.848023891 WriteOdom laser_odom_to_init
1317357986.848023891 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.705700 ms 
--------------------stamp1317357986.952086925
prepare time 11.543194 
sort q time 9.790775 
seperate points time 16.663806 
mapping solver time 29.493014 ms 
publication time 10.220828 ms 
whole laserOdometry time 10.239783 ms 
 
1317357986.536195993 WriteOdom aft_mapped_to_init
-----t: 0.0499464
OdomCount 2166 & avg odom time 0.045705 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
1317357986.952086925 WriteOdom laser_odom_to_init
1317357986.952086925 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.300611 ms
map corner num 163396  surf num 58340 
build tree time 34.762568 ms 
points size 97260 
sort q time 6.759247 
seperate points time 15.772391 
publication time 8.947081 ms 
whole laserOdometry time 8.959710 ms 
 
-----t: 0.0567999
OdomCount 2167 & avg odom time 0.045711 ms ++++++++++++++++++++++
--------------------stamp1317357987.160353899
points size 97860 
sort q time 6.006445 
seperate points time 12.408118 
mapping solver time 33.559613 ms 
filter time 14.965632 ms 
-----t: 0.0505832
OdomCount 2168 & avg odom time 0.045713 ms ++++++++++++++++++++++
build tree time 35.972045 ms 
points size 97784 
sort q time 5.726110 
seperate points time 12.303808 
publication time 8.714790 ms 
whole laserOdometry time 8.726403 ms 
 
-----t: 0.043497
OdomCount 2169 & avg odom time 0.045712 ms ++++++++++++++++++++++
mapping data assosiation time 27.604297 ms 
points size 98085 
publication time 9.725860 ms 
whole laserOdometry time 9.739503 ms 
 
map prepare time 3.799648 ms
map corner num 123553  surf num 45313 
-----t: 0.0494065
OdomCount 2170 & avg odom time 0.045714 ms ++++++++++++++++++++++
1317357987.368768930 WriteOdom laser_odom_to_init
1317357987.368768930 WriteOdom aft_mapped_to_init_high_frec
build tree time 27.370306 ms 
--------------------stamp1317357987.473071098
prepare time 11.118722 
sort q time 5.524066 
seperate points time 12.962397 
mapping solver time 36.301428 ms 
mapping data assosiation time 31.356381 ms 
--------------------stamp1317357987.577423095
points size 99120 
map prepare time 2.854842 ms
map corner num 124609  surf num 45704 
sort q time 6.150432 
seperate points time 12.513668 
scan registration time 29.204048 ms *************
build tree time 34.981624 ms 
mapping data assosiation time 35.647352 ms 
--------------------stamp1317357987.681797981
points size 100554 
mapping solver time 35.280115 ms 
publication time 8.480154 ms 
whole laserOdometry time 8.497609 ms 
 
mapping solver time 30.494862 ms 
filter time 10.511381 ms 
map prepare time 3.912147 ms
map corner num 125627  surf num 46045 
prepare time 13.454540 
sort q time 5.968941 
seperate points time 13.886584 
mapping data assosiation time 32.706225 ms 
-----t: 0.0662344
OdomCount 2174 & avg odom time 0.045736 ms ++++++++++++++++++++++
mapping solver time 27.299040 ms 
--------------------stamp1317357987.890497922
prepare time 13.579303 
mapping data assosiation time 35.751252 ms 
publication time 8.736125 ms 
whole laserOdometry time 8.747271 ms 
 
filter time 8.135535 ms 
-----t: 0.0626051
OdomCount 2175 & avg odom time 0.045744 ms ++++++++++++++++++++++
build tree time 28.562769 ms 
points size 101558 
sort q time 5.754640 
seperate points time 12.682418 
publication time 9.332352 ms 
whole laserOdometry time 9.346875 ms 
 
-----t: 0.0509781
OdomCount 2176 & avg odom time 0.045746 ms ++++++++++++++++++++++
mapping data assosiation time 28.835344 ms 
points size 101713 
sort q time 6.059239 
seperate points time 13.660175 
filter time 12.144493 ms -----t: 0.0479224
OdomCount 2177 & avg odom time 0.045747 ms ++++++++++++++++++++++
build tree time 26.173127 ms 
--------------------stamp1317357988.203269004
mapping data assosiation time 33.171464 ms 
sort q time 5.806103 
seperate points time 12.755397 
publication time 9.964496 ms 
whole laserOdometry time 9.995450 ms 
 
-----t: 0.0661087
OdomCount 2178 & avg odom time 0.045756 ms ++++++++++++++++++++++
--------------------stamp1317357988.307446002
points size 102157 
filter time 11.818622 ms 
publication time 9.863364 ms 
whole laserOdometry time 9.872364 ms 
 
mapping data assosiation time 26.333472 ms 
points size 102223 
sort q time 6.207917 
seperate points time 13.473262 
publication time 11.476195 ms 
whole laserOdometry time 11.494845 ms 
 
mapping data assosiation time 34.072140 ms 
mapping solver time 18.661978 ms 
mapping optimization time 151.266229 
add points time 1.136804 ms
mapping pub time 2.314960 ms 
whole mapping time 167.745373 ms +++++
mappingCount 1490 & avg mapping time 147.383539 ms ++++++++++++++++++++++
points size 102194 
sort q time 5.812181 
seperate points time 13.532465 
scan registration time 33.368131 ms *************
publication time 10.602317 ms 
whole laserOdometry time 10.622386 ms 
 
mapping data assosiation time 34.582373 ms 
mapping solver time 30.842203 ms 
--------------------stamp1317357988.619927883
prepare time 11.316966 
mapping data assosiation time 31.680773 ms 
publication time 7.555924 ms 
whole laserOdometry time 7.570824 ms 
 
mapping optimization time 157.843414 
filter time 11.064586 ms 
map prepare time 3.724657 ms
map corner num 130057  surf num 47529 
--------------------stamp1317357988.724078893
prepare time 11.708420 
sort q time 6.339678 
seperate points time 13.627169 
publication time 10.128478 ms 
whole laserOdometry time 10.144270 ms 
 
-----t: 0.0512268
OdomCount 2183 & avg odom time 0.045767 ms ++++++++++++++++++++++
mapping data assosiation time 27.731364 ms 
points size 100996 
mapping solver time 33.523091 ms 
filter time 13.184955 ms 
-----t: 0.0460843
OdomCount 2184 & avg odom time 0.045767 ms ++++++++++++++++++++++
1317357988.828213930 WriteOdom laser_odom_to_init
1317357988.828213930 WriteOdom aft_mapped_to_init_high_frec
build tree time 31.013461 ms 
--------------------stamp1317357988.932326078
points size 100831 
sort q time 6.830519 
seperate points time 12.756942 
publication time 9.936354 ms 
whole laserOdometry time 9.950100 ms 
 
-----t: 0.0539926
OdomCount 2185 & avg odom time 0.045771 ms ++++++++++++++++++++++
mapping data assosiation time 30.972255 ms 
--------------------stamp1317357989.036412954
prepare time 11.452127 
filter time 10.082124 ms 
publication time 9.154874 ms 
whole laserOdometry time 9.169991 ms 
 
build tree time 34.872119 ms 
-----t: 0.0537441
OdomCount 2186 & avg odom time 0.045775 ms ++++++++++++++++++++++
1317357989.036412954 WriteOdom laser_odom_to_init
1317357989.036412954 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.732806 ms 
points size 98718 
prepare time 11.135044 
scan registration time 29.498813 ms *************
publication time 9.326779 ms 
whole laserOdometry time 9.340178 ms 
 
mapping data assosiation time 34.748908 ms 
mapping solver time 20.733401 ms 
filter time 9.543692 ms 
map prepare time 2.951267 ms
map corner num 132360  surf num 48339 
points size 97412 
sort q time 5.516729 
seperate points time 12.225129 
publication time 8.061351 ms 
whole laserOdometry time 8.077569 ms 
 
--------------------stamp1317357989.348434925
mapping data assosiation time 30.166005 ms 
scan registration time 28.457248 ms *************
mapping solver time 30.717780 ms 
1317357989.348434925 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
build tree time 30.912861 ms 
prepare time 10.497624 
sort q time 6.254074 
seperate points time 12.273618 
scan registration time 27.519070 ms *************
publication time 11.166944 ms 
whole laserOdometry time 11.193655 ms 
 
mapping solver time 37.777010 ms 
mapping data assosiation time 27.540878 ms 
points size 94226 
sort q time 6.046918 
seperate points time 12.267871 
filter time 12.692095 ms 
map prepare time 3.812001 ms
map corner num 133833  surf num 48859 
build tree time 36.995098 ms 
--------------------stamp1317357989.660047054
mapping data assosiation time 33.581513 ms 
publication time 10.035085 ms 
mapping solver time 40.419673 ms 
mapping data assosiation time 33.434238 ms 
--------------------stamp1317357989.763869047
sort q time 5.344287 
seperate points time 11.629201 
mapping optimization time 187.296724 
publication time 9.512248 ms 
filter time 14.341590 ms 
whole laserOdometry time 9.593380 ms 
 
mapping pub time 2.216715 ms 
whole mapping time 208.833946 ms +++++
mappingCount 1497 & avg mapping time 147.552387 ms ++++++++++++++++++++++
1317357989.452353954 WriteOdom aft_mapped_to_init
build tree time 36.827100 ms 
--------------------stamp1317357989.867667913
mapping data assosiation time 33.581479 ms 
publication time 8.361716 ms 
whole laserOdometry time 8.377442 ms 
 
-----t: 0.0449976
OdomCount 2194 & avg odom time 0.045771 ms ++++++++++++++++++++++
mapping data assosiation time 33.284351 ms 
points size 98629 
prepare time 8.792547 
mapping solver time 34.448391 ms 
filter time 13.481322 ms 
-----t: 0.050941
OdomCount 2195 & avg odom time 0.045773 ms ++++++++++++++++++++++
1317357989.971442937 WriteOdom laser_odom_to_init
1317357989.971442937 WriteOdom aft_mapped_to_init_high_frec
build tree time 37.637474 ms 
--------------------stamp1317357990.075193881
prepare time 11.026403 
sort q time 7.117597 
seperate points time 13.231606 
publication time 8.402201 ms 
whole laserOdometry time 8.417615 ms 
 
-----t: 0.0452955
OdomCount 2196 & avg odom time 0.045773 ms ++++++++++++++++++++++
1317357990.075193881 WriteOdom laser_odom_to_init
1317357990.075193881 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.281934 ms 
--------------------stamp1317357990.178919076
filter time 13.627034 ms 
publication time 8.808578 ms 
whole laserOdometry time 8.819772 ms 
 
-----t: 0.0524906
OdomCount 2197 & avg odom time 0.045776 ms ++++++++++++++++++++++
mapping data assosiation time 29.873401 ms 
points size 101359 
sort q time 5.778053 
seperate points time 13.025259 
publication time 10.260936 ms 
whole laserOdometry time 10.432333 ms 
 mapping solver time 18.034548 ms 
mapping optimization time 143.786690 
add points time 0.923382 ms
mapping pub time 2.256353 ms 
whole mapping time 159.752480 ms +++++
mappingCount 1500 & avg mapping time 147.622574 ms ++++++++++++++++++++++
--------------------stamp1317357990.386327028
prepare time 11.756602 
build tree time 34.010853 ms 
publication time 9.115675 ms 
whole laserOdometry time 9.134433 ms 
 
-----t: 0.0415751
OdomCount 2199 & avg odom time 0.045770 ms ++++++++++++++++++++++
mapping solver time 31.251149 ms 
--------------------stamp1317357990.490052938
prepare time 11.250533 
sort q time 6.785535 
seperate points time 13.366097 
add points time 0.852952 ms
[0m[ INFO] [1718890073.441299403, 1317357990.540897072]: Received 188113 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890073.441359713, 1317357990.540897072]: Data saved to 1317357990178919.pcd[0m
-----t: 0.0558366
OdomCount 2200 & avg odom time 0.045774 ms ++++++++++++++++++++++
--------------------stamp1317357990.593779087
points size 101483 
mapping pub time 82.951531 ms 
whole mapping time 247.345990 ms +++++
mappingCount 1501 & avg mapping time 147.689016 ms ++++++++++++++++++++++
1317357990.178919077 WriteOdom aft_mapped_to_init
map prepare time 4.684001 ms
map corner num 137636  surf num 50477 
publication time 8.242745 ms 
whole laserOdometry time 8.254208 ms 
 
-----t: 0.0456936
OdomCount 2201 & avg odom time 0.045774 ms ++++++++++++++++++++++
mapping data assosiation time 21.880002 ms 
--------------------stamp1317357990.697482109
points size 100562 
sort q time 5.518737 
seperate points time 13.046732 
publication time 7.561359 ms 
whole laserOdometry time 7.575035 ms 
 
-----t: 0.0467534
OdomCount 2202 & avg odom time 0.045775 ms ++++++++++++++++++++++
mapping optimization time 140.526613 
filter time 11.423827 ms 
--------------------stamp1317357990.801183938
points size 98857 
build tree time 37.650246 ms 
scan registration time 33.130992 ms *************
publication time 10.079376 ms 
whole laserOdometry time 10.096387 ms 
 
-----t: 0.0575743
OdomCount 2203 & avg odom time 0.045780 ms ++++++++++++++++++++++
--------------------stamp1317357990.904885053
prepare time 12.640106 
mapping solver time 19.190069 ms 
filter time 12.734707 ms 
-----t: 0.0544482
OdomCount 2204 & avg odom time 0.045784 ms ++++++++++++++++++++++
build tree time 34.311802 ms 
--------------------stamp1317357991.008563041
sort q time 5.183739 
seperate points time 11.847475 
scan registration time 34.506473 ms *************publication time 7.802036 ms 
whole laserOdometry time 7.813519 ms 
 
mapping solver time 25.602427 ms 
filter time 12.811233 ms 
map prepare time 3.789324 ms
map corner num 139736  surf num 51297 
sort q time 5.056823 
seperate points time 12.221936 
scan registration time 26.935622 ms *************
publication time 8.237364 ms 
whole laserOdometry time 8.251437 ms 
 
build tree time 36.224022 ms 
mapping data assosiation time 26.283517 ms 
--------------------stamp1317357991.215946912
points size 90469 
sort q time 6.132193 
seperate points time 14.100707 
-----t: 0.0279105
OdomCount 2207 & avg odom time 0.045775 ms ++++++++++++++++++++++
publication time 7.879346 ms 
whole laserOdometry time 7.890800 ms 
 
filter time 9.018850 ms 
build tree time 28.531750 ms 
points size 90179 
mapping data assosiation time 23.369829 ms 
publication time 7.314618 ms 
whole laserOdometry time 7.329963 ms 
 
mapping data assosiation time 21.116011 ms 
mapping solver time 20.164887 ms 
mapping optimization time 118.951262 
add points time 0.896983 ms
1317357991.112243891 WriteOdom aft_mapped_to_init
points size 89032 
prepare time 10.679842 
build tree time 36.818174 ms 
mapping data assosiation time 21.923983 ms 
mapping solver time 22.161922 ms 
--------------------stamp1317357991.527224063
sort q time 4.913820 
seperate points time 10.522642 
scan registration time 20.592728 ms *************
publication time 6.797450 ms 
whole laserOdometry time 6.850842 ms 
 
filter time 12.909348 ms 
mapping pub time 1.976218 ms 
whole mapping time 149.098838 ms +++++
mappingCount 1507 & avg mapping time 147.722690 ms ++++++++++++++++++++++
1317357991.319672108 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.323025 ms
map corner num 141879  surf num 51950 
build tree time 30.761027 ms 
--------------------stamp1317357991.631021976
mapping solver time 27.983831 ms 
-----t: 0.0323467
OdomCount 2211 & avg odom time 0.045752 ms ++++++++++++++++++++++
1317357991.631021976 WriteOdom laser_odom_to_init
1317357991.631021976 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.325243 ms 
mapping optimization time 122.827594 
add points time 0.739700 ms
map prepare time 2.800249 ms
map corner num 142394  surf num 52104 
--------------------stamp1317357991.734795093
prepare time 9.407197 
sort q time 5.441614 
seperate points time 10.915544 
publication time 6.809534 ms 
whole laserOdometry time 6.830349 ms 
 
mapping data assosiation time 22.212670 ms 
mapping solver time 24.589253 ms 
mapping data assosiation time 19.337282 ms 
--------------------stamp1317357991.838594913
prepare time 8.857438 
sort q time 4.789489 
seperate points time 10.530614 
mapping pub time 2.049549 ms 
whole mapping time 147.406458 ms +++++
mappingCount 1509 & avg mapping time 147.716520 ms ++++++++++++++++++++++
-----t: 0.0447038
OdomCount 2213 & avg odom time 0.045751 ms ++++++++++++++++++++++
1317357991.838594913 WriteOdom laser_odom_to_init
1317357991.838594913 WriteOdom aft_mapped_to_init_high_frec
build tree time 37.925816 ms 
mapping data assosiation time 19.309491 ms 
--------------------stamp1317357991.942395925
mapping solver time 20.523574 ms 
sort q time 6.130532 
seperate points time 13.848330 
-----t: 0.0322452
OdomCount 2214 & avg odom time 0.045745 ms ++++++++++++++++++++++
filter time 11.327034 ms 
build tree time 30.220057 ms 
points size 87366 
sort q time 5.380830 
seperate points time 11.081611 
mapping solver time 22.659530 ms 
mapping data assosiation time 20.386026 ms 
mapping solver time 14.362345 ms 
filter time 9.423995 ms 
--------------------stamp1317357992.149995088
sort q time 4.968319 
seperate points time 10.268404 
publication time 7.168083 ms 
whole laserOdometry time 7.176582 ms 
 
mapping data assosiation time 21.842757 ms 
mapping solver time 22.331607 ms 
mapping data assosiation time 18.976145 ms 
--------------------stamp1317357992.253793001
filter time 13.941129 ms 
1317357992.046195984 WriteOdom aft_mapped_to_init
-----t: 0.0348029
OdomCount 2217 & avg odom time 0.045728 ms ++++++++++++++++++++++
build tree time 35.385303 ms 
mapping data assosiation time 19.424344 ms 
--------------------stamp1317357992.357614994
sort q time 5.821433 
seperate points time 10.674420 
publication time 7.019775 ms 
whole laserOdometry time 7.051894 ms 
 
-----t: 0.0348911
OdomCount 2218 & avg odom time 0.045723 ms ++++++++++++++++++++++
filter time 14.198416 ms 
build tree time 33.816307 ms 
points size 90756 
sort q time 5.136649 
seperate points time 11.406424 
mapping solver time 21.471360 ms 
publication time 7.042037 ms 
whole laserOdometry time 7.056686 ms 
 
1317357992.461436986 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.555873 ms 
mapping solver time 14.511929 ms 
filter time 10.407102 ms 
--------------------stamp1317357992.565258979
build tree time 33.759291 ms 
mapping data assosiation time 22.715010 ms 
publication time 9.505778 ms 
whole laserOdometry time 9.524391 ms 
 
mapping solver time 27.372044 ms 
mapping data assosiation time 20.412768 ms 
--------------------stamp1317357992.669080972
prepare time 10.383860 
sort q time 5.344574 
seperate points time 11.982338 
map prepare time 3.289402 ms
map corner num 146322  surf num 53443 
publication time 8.831436 ms 
whole laserOdometry time 8.845660 ms 
 
-----t: 0.042744
OdomCount 2221 & avg odom time 0.045715 ms ++++++++++++++++++++++
1317357992.669080972 WriteOdom laser_odom_to_init
1317357992.669080972 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.710655 ms 
--------------------stamp1317357992.772880077
sort q time 5.381721 
seperate points time 11.569536 
mapping data assosiation time 21.420259 ms 
-----t: 0.0339228
OdomCount 2222 & avg odom time 0.045710 ms ++++++++++++++++++++++
add points time 0.813150 ms
filter time 10.699724 ms 
map prepare time 2.984203 ms
map corner num 146897  surf num 53648 
--------------------stamp1317357992.876681089
sort q time 5.610683 
seperate points time 10.428026 
scan registration time 21.022557 ms *************
publication time 8.048171 ms 
whole laserOdometry time 8.061982 ms 
 
mapping solver time 24.448903 ms 
-----t: 0.0540351
OdomCount 2223 & avg odom time 0.045714 ms ++++++++++++++++++++++
mapping solver time 14.808576 ms 
--------------------stamp1317357992.980478048
sort q time 5.029418 
seperate points time 10.993034 
publication time 11.352321 ms 
whole laserOdometry time 11.366193 ms 
 
-----t: 0.0457222
OdomCount 2224 & avg odom time 0.045714 ms ++++++++++++++++++++++
mapping data assosiation time 23.865757 ms 
mapping solver time 24.243206 ms 
points size 89147 
sort q time 4.880683 
seperate points time 11.459466 
mapping solver time 24.434120 ms 
-----t: 0.0368226
OdomCount 2225 & avg odom time 0.045710 ms ++++++++++++++++++++++
map prepare time 2.859350 ms
map corner num 148416  surf num 54263 
build tree time 32.010485 ms 
points size 90119 
sort q time 5.270792 
seperate points time 10.455865 
mapping solver time 23.708157 ms 
-----t: 0.0354757
OdomCount 2226 & avg odom time 0.045705 ms ++++++++++++++++++++++
mapping data assosiation time 22.000826 ms 
mapping solver time 17.853543 ms 
filter time 11.079799 ms 
--------------------stamp1317357993.291851997
sort q time 5.178072 
seperate points time 11.116549 
-----t: 0.0335004
OdomCount 2227 & avg odom time 0.045700 ms ++++++++++++++++++++++
mapping data assosiation time 23.891475 ms 
mapping solver time 23.465369 ms 
mapping data assosiation time 19.491017 ms 
points size 90086 
prepare time 10.206290 
mapping solver time 20.750304 ms 
mapping optimization time 125.586312 
filter time 12.715064 ms 
1317357993.395652055 WriteOdom laser_odom_to_init
1317357993.395652055 WriteOdom aft_mapped_to_init_high_frec
build tree time 36.967767 ms 
mapping data assosiation time 22.592717 ms 
points size 93679 
mapping solver time 22.335603 ms 
publication time 7.529040 ms 
whole laserOdometry time 7.544728 ms 
 
mapping solver time 19.419035 ms 
filter time 10.605962 ms 
--------------------stamp1317357993.603296041
sort q time 5.129035 
seperate points time 12.055616 
-----t: 0.032799
OdomCount 2230 & avg odom time 0.045682 ms ++++++++++++++++++++++
1317357993.603296041 WriteOdom laser_odom_to_init
publication time 11.358414 ms 
whole laserOdometry time 11.377800 ms 
 
1317357993.603296041 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
build tree time 35.519714 ms 
points size 94620 
prepare time 8.691371 
publication time 9.889095 ms 
whole laserOdometry time 9.901832 ms 
 
mapping data assosiation time 18.978878 ms 
mapping solver time 14.994748 ms 
mapping optimization time 117.497981 
add points time 0.947929 ms
1317357993.395652056 WriteOdom aft_mapped_to_init
points size 94586 
sort q time 6.364042 
seperate points time 12.214953 
scan registration time 27.999776 ms *************
publication time 9.418884 ms 
whole laserOdometry time 9.436768 ms 
 
mapping solver time 21.851274 ms 
mapping data assosiation time 19.783182 ms 
mapping solver time 17.503164 ms 
mapping optimization time 123.980968 
prepare time 12.179269 
map prepare time 3.504450 ms
map corner num 151839  surf num 55456 
publication time 10.084235 ms 
whole laserOdometry time 10.144719 ms 
 
-----t: 0.0584359
OdomCount 2233 & avg odom time 0.045688 ms ++++++++++++++++++++++
1317357993.914833068 WriteOdom laser_odom_to_init
1317357993.914833068 WriteOdom aft_mapped_to_init_high_frec
build tree time 40.100989 ms 
mapping data assosiation time 19.698044 ms 
points size 92739 
mapping solver time 29.879678 ms 
publication time 8.696301 ms 
whole laserOdometry time 8.707803 ms 
 
-----t: 0.0422456
OdomCount 2234 & avg odom time 0.045687 ms ++++++++++++++++++++++
1317357994.018703937 WriteOdom laser_odom_to_init
1317357994.018703937 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.527856 ms 
filter time 9.270013 ms 
--------------------stamp1317357994.122575998
build tree time 36.039940 ms 
publication time 8.129619 ms 
whole laserOdometry time 8.144764 ms 
 
-----t: 0.0505345
OdomCount 2235 & avg odom time 0.045689 ms ++++++++++++++++++++++
mapping solver time 34.422063 ms 
mapping data assosiation time 20.542946 ms 
points size 91101 
add points time 0.922070 ms
filter time 13.642900 ms 
-----t: 0.0421292
OdomCount 2236 & avg odom time 0.045687 ms ++++++++++++++++++++++
build tree time 34.305503 ms 
mapping data assosiation time 18.340783 ms 
--------------------stamp1317357994.330271959
points size 92225 
sort q time 5.086593 
seperate points time 11.155246 
publication time 6.431635 ms 
whole laserOdometry time 6.450448 ms 
 
-----t: 0.0332877
OdomCount 2237 & avg odom time 0.045682 ms ++++++++++++++++++++++
mapping solver time 16.540400 ms 
mapping optimization time 119.062132 
add points time 0.951936 ms
[0m[ INFO] [1718890077.300612809, 1317357994.400283038]: Received 209589 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890077.300677563, 1317357994.400283038]: Data saved to 1317357994122575.pcd[0m
--------------------stamp1317357994.434118032
sort q time 5.252005 
seperate points time 11.900898 
mapping data assosiation time 32.425322 ms 
mapping solver time 20.525389 ms 
mapping data assosiation time 19.082107 ms 
mapping solver time 14.123326 ms 
filter time 11.064849 ms 
sort q time 5.304306 
seperate points time 12.414804 
-----t: 0.0324524
OdomCount 2239 & avg odom time 0.045670 ms ++++++++++++++++++++++
publication time 8.815025 ms 
whole laserOdometry time 8.828659 ms 
 
mapping data assosiation time 18.699188 ms 
mapping solver time 23.908872 ms 
points size 94522 
mapping data assosiation time 22.736834 ms 
sort q time 5.173703 
seperate points time 12.020101 
scan registration time 23.688300 ms *************
mapping solver time 23.509762 ms 
filter time 11.492133 ms 
build tree time 36.003481 ms 
points size 93910 
sort q time 6.000335 
seperate points time 12.315718 
mapping solver time 23.490897 ms 
publication time 7.828325 ms 
whole laserOdometry time 7.859479 ms 
 
mapping data assosiation time 23.288471 ms 
-----t: 0.0608193
OdomCount 2241 & avg odom time 0.045671 ms ++++++++++++++++++++++
filter time 9.966323 ms 
mapping pub time 2.061771 ms 
whole mapping time 137.836656 ms +++++
mappingCount 1529 & avg mapping time 147.695322 ms ++++++++++++++++++++++
1317357994.537964106 WriteOdom aft_mapped_to_init
points size 92550 
sort q time 5.671574 
seperate points time 11.735999 
build tree time 43.752609 ms 
publication time 7.260817 ms 
whole laserOdometry time 7.275651 ms 
 
mapping data assosiation time 22.710291 ms 
-----t: 0.0682801
OdomCount 2242 & avg odom time 0.045681 ms ++++++++++++++++++++++
--------------------stamp1317357994.953255891
prepare time 8.529369 
sort q time 6.703601 
seperate points time 13.900267 
publication time 7.907793 ms 
whole laserOdometry time 7.925614 ms 
 
map prepare time 2.919217 ms
map corner num 155828  surf num 56785 
-----t: 0.0483916
OdomCount 2243 & avg odom time 0.045683 ms ++++++++++++++++++++++
build tree time 36.841354 ms 
--------------------stamp1317357995.057028055
sort q time 5.054052 
seperate points time 11.742575 
publication time 10.446349 ms 
whole laserOdometry time 10.460503 ms 
 
mapping data assosiation time 26.889546 ms 
mapping solver time 21.156164 ms 
filter time 11.988537 ms 
1317357994.849483013 WriteOdom aft_mapped_to_init
sort q time 5.710286 
seperate points time 11.423865 
publication time 8.565850 ms 
whole laserOdometry time 8.578324 ms 
 
-----t: 0.0518421
OdomCount 2245 & avg odom time 0.045686 ms ++++++++++++++++++++++
mapping solver time 23.897703 ms 
points size 93584 
mapping data assosiation time 21.763328 ms 
publication time 5.948039 ms 
whole laserOdometry time 5.962537 ms 
 
-----t: 0.0400357
OdomCount 2246 & avg odom time 0.045683 ms ++++++++++++++++++++++
mapping pub time 2.058341 ms 
whole mapping time 161.470833 ms +++++
mappingCount 1532 & avg mapping time 147.719879 ms ++++++++++++++++++++++
1317357995.057028055 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.763136 ms
map corner num 156942  surf num 57199 
build tree time 33.780391 ms 
points size 93481 
sort q time 6.147658 
seperate points time 13.993500 
scan registration time 35.863217 ms *************
publication time 14.699638 ms 
whole laserOdometry time 14.711833 ms 
 
mapping solver time 17.479308 ms 
--------------------stamp1317357995.472198963
points size 93078 
sort q time 5.536544 
seperate points time 13.191474 
scan registration time 28.037348 ms *************
build tree time 44.611544 ms 
mapping data assosiation time 20.365623 ms 
mapping solver time 21.899777 ms 
points size 92460 
sort q time 5.486292 
seperate points time 13.110532 
mapping solver time 25.156008 ms 
filter time 16.162657 ms 
--------------------stamp1317357995.679749011
points size 91004 
prepare time 13.941561 
mapping data assosiation time 28.400367 ms 
publication time 10.180175 ms 
whole laserOdometry time 10.217974 ms 
 
mapping data assosiation time 18.184557 ms 
--------------------stamp1317357995.783548116
points size 88812 
mapping pub time 2.308762 ms 
whole mapping time 162.867902 ms +++++
mappingCount 1535 & avg mapping time 147.737961 ms ++++++++++++++++++++++
-----t: 0.0333639
OdomCount 2251 & avg odom time 0.045693 ms ++++++++++++++++++++++
build tree time 39.685387 ms 
mapping data assosiation time 17.637776 ms 
--------------------stamp1317357995.887348890
points size 88613 
sort q time 5.235151 
seperate points time 11.981758 
mapping data assosiation time 23.562129 ms 
-----t: 0.0372233
OdomCount 2252 & avg odom time 0.045689 ms ++++++++++++++++++++++
filter time 10.078424 ms 
map prepare time 3.078921 ms
map corner num 170292  surf num 58110 
--------------------stamp1317357995.991146087
points size 90446 
sort q time 5.556190 
seperate points time 12.990377 
mapping data assosiation time 23.327491 ms 
mapping solver time 21.416116 ms 
mapping data assosiation time 22.604774 ms 
mapping solver time 17.971104 ms 
points size 94798 
sort q time 5.818535 
seperate points time 13.633384 
-----t: 0.0398799
OdomCount 2254 & avg odom time 0.045691 ms ++++++++++++++++++++++
build tree time 47.611978 ms 
mapping data assosiation time 19.595098 ms 
--------------------stamp1317357996.198695898
points size 96362 
sort q time 5.930201 
seperate points time 13.866025 
publication time 10.992347 ms 
whole laserOdometry time 11.008806 ms 
 
-----t: 0.0404146
OdomCount 2255 & avg odom time 0.045689 ms ++++++++++++++++++++++
mapping solver time 21.284348 ms 
filter time 12.240040 ms 
--------------------stamp1317357996.302470922
points size 95692 
sort q time 5.647712 
seperate points time 13.197713 
publication time 10.188752 ms 
whole laserOdometry time 10.219075 ms 
 
mapping data assosiation time 25.900520 ms 
mapping solver time 23.952280 ms 
mapping data assosiation time 18.008976 ms 
points size 93401 
filter time 15.839429 ms 
publication time 7.680550 ms 
whole laserOdometry time 7.692351 ms 
 
-----t: 0.0514515
OdomCount 2257 & avg odom time 0.045688 ms ++++++++++++++++++++++
build tree time 43.308092 ms 
--------------------stamp1317357996.510092020
prepare time 10.926223 
scan registration time 25.364539 ms *************
publication time 9.663075 ms 
whole laserOdometry time 9.673280 ms 
 
mapping solver time 14.458494 ms 
filter time 12.279228 ms 
--------------------stamp1317357996.613914966
prepare time 13.124575 
sort q time 5.801542 
seperate points time 13.295178 
publication time 11.067262 ms 
whole laserOdometry time 11.086691 ms 
 
mapping data assosiation time 25.380922 ms 
mapping data assosiation time 19.083386 ms 
points size 90752 
sort q time 5.075750 
seperate points time 12.225616 
[0m[ INFO] [1718890079.678224800, 1317357996.775232774]: Received 231522 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890079.678319337, 1317357996.775232774]: Data saved to 1317357996406269.pcd[0m
--------------------stamp1317357996.821629047
sort q time 5.069136 
seperate points time 12.056943 
-----t: 0.0311841
OdomCount 2261 & avg odom time 0.045683 ms ++++++++++++++++++++++
build tree time 39.937122 ms 
mapping data assosiation time 21.615632 ms 
--------------------stamp1317357996.925498962
prepare time 9.846641 
sort q time 5.332936 
seperate points time 11.498040 
publication time 7.857732 ms 
whole laserOdometry time 7.871881 ms 
 
-----t: 0.0418588
OdomCount 2262 & avg odom time 0.045681 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317357997.029397964
points size 91577 
mapping data assosiation time 20.800134 ms 
sort q time 5.181292 
seperate points time 12.099482 
scan registration time 30.827084 ms *************
publication time 8.620098 ms 
whole laserOdometry time 8.631580 ms 
 
-----t: 0.0560808
OdomCount 2263 & avg odom time 0.045686 ms ++++++++++++++++++++++
mapping solver time 17.991355 ms 
--------------------stamp1317357997.133316993
points size 92672 
sort q time 5.293164 
seperate points time 12.373156 
scan registration time 26.911311 ms *************
-----t: 0.0343413
OdomCount 2264 & avg odom time 0.045681 ms ++++++++++++++++++++++
mapping data assosiation time 17.918333 ms 
mapping solver time 21.456748 ms 
points size 94218 
mapping solver time 17.771361 ms 
-----t: 0.0496031
OdomCount 2265 & avg odom time 0.045682 ms ++++++++++++++++++++++
build tree time 38.561277 ms 
--------------------stamp1317357997.341156005
points size 97326 
scan registration time 26.426443 ms *************
mapping solver time 28.370868 ms 
mapping data assosiation time 22.701977 ms 
mapping solver time 14.011418 ms 
filter time 10.628225 ms 
--------------------stamp1317357997.445097923
points size 100433 
sort q time 5.782064 
seperate points time 13.231380 
scan registration time 34.426872 ms *************
build tree time 43.621779 ms 
-----t: 0.0433999
OdomCount 2267 & avg odom time 0.045677 ms ++++++++++++++++++++++
mapping solver time 23.222130 ms 
mapping data assosiation time 19.010817 ms 
points size 100534 
mapping optimization time 131.045134 
mapping pub time 5.613962 ms 
whole mapping time 154.217628 ms +++++
mappingCount 1546 & avg mapping time 147.822449 ms ++++++++++++++++++++++
publication time 10.666583 ms 
whole laserOdometry time 10.684452 ms 
 
build tree time 39.452378 ms 
--------------------stamp1317357997.652982950
filter time 10.371346 ms 
points size 101202 
sort q time 5.870739 
seperate points time 13.349959 
publication time 14.791184 ms 
whole laserOdometry time 14.802060 ms 
 
mapping data assosiation time 18.917597 ms 
mapping solver time 19.167905 ms 
--------------------stamp1317357997.860843896
mapping solver time 18.914258 ms 
filter time 14.956995 ms 
-----t: 0.042813
OdomCount 2271 & avg odom time 0.045679 ms ++++++++++++++++++++++
build tree time 38.816139 ms 
--------------------stamp1317357997.964762926
points size 100912 
sort q time 5.611987 
seperate points time 12.975521 
publication time 7.968512 ms 
whole laserOdometry time 7.980706 ms 
 
-----t: 0.0418041
OdomCount 2272 & avg odom time 0.045678 ms ++++++++++++++++++++++
1317357997.964762926 WriteOdom laser_odom_to_init
1317357997.964762926 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.138666 ms 
mapping solver time 21.864801 ms 
filter time 10.756811 ms 
mapping pub time 2.276696 ms 
whole mapping time 153.989739 ms +++++
mappingCount 1549 & avg mapping time 147.832260 ms ++++++++++++++++++++++
1317357997.756926060 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 100498 
sort q time 5.789967 
seperate points time 13.490019 
build tree time 49.105679 ms 
mapping data assosiation time 19.824353 ms 
mapping solver time 20.761551 ms 
--------------------stamp1317357998.172627925
points size 100000 
mapping solver time 20.008530 ms 
filter time 15.366419 ms 
-----t: 0.049237
OdomCount 2274 & avg odom time 0.045683 ms ++++++++++++++++++++++
build tree time 40.429148 ms 
--------------------stamp1317357998.276596069
points size 99787 
sort q time 5.488966 
seperate points time 12.777874 
mapping solver time 31.661734 ms 
publication time 12.099655 ms 
whole laserOdometry time 12.112634 ms 
 
mapping data assosiation time 23.133274 ms 
mapping solver time 16.229468 ms 
filter time 10.961707 ms 
--------------------stamp1317357998.380541086
points size 99500 
sort q time 5.292268 
seperate points time 12.352896 
scan registration time 33.043832 ms *************
publication time 9.270877 ms 
whole laserOdometry time 9.284643 ms 
 
mapping data assosiation time 22.816089 ms 
mapping solver time 19.710289 ms 
mapping data assosiation time 20.839716 ms 
sort q time 5.628565 
seperate points time 12.903879 
mapping solver time 17.940976 ms 
mapping optimization time 127.640064 
add points time 0.693148 ms
filter time 13.734119 ms 
-----t: 0.0534372
OdomCount 2277 & avg odom time 0.045684 ms ++++++++++++++++++++++
build tree time 38.102231 ms 
--------------------stamp1317357998.588387966
prepare time 11.423316 
mapping solver time 19.900385 ms 
mapping data assosiation time 22.408458 ms 
publication time 8.720688 ms 
whole laserOdometry time 8.735304 ms 
 
-----t: 0.0389287
OdomCount 2278 & avg odom time 0.045681 ms ++++++++++++++++++++++
filter time 10.436001 ms 
map prepare time 3.091943 ms
map corner num 179344  surf num 60351 
--------------------stamp1317357998.692279100
prepare time 11.664982 
sort q time 5.418065 
seperate points time 12.586587 
mapping data assosiation time 20.742700 ms 
publication time 16.710696 ms 
mapping data assosiation time 17.821167 ms 
mapping optimization time 121.584583 
1317357998.588387966 WriteOdom aft_mapped_to_init
prepare time 14.656918 
map prepare time 3.887014 ms
map corner num 179915  surf num 60471 
publication time 9.629542 ms 
whole laserOdometry time 9.640553 ms 
 
-----t: 0.055268
OdomCount 2280 & avg odom time 0.045685 ms ++++++++++++++++++++++
1317357998.796173095 WriteOdom laser_odom_to_init
1317357998.796173095 WriteOdom aft_mapped_to_init_high_frec
build tree time 52.125251 ms 
mapping data assosiation time 20.092623 ms 
--------------------stamp1317357998.900072097
points size 98716 
sort q time 6.280547 
seperate points time 12.621569 
publication time 8.627513 ms 
whole laserOdometry time 8.641662 ms 
 
mapping solver time 17.894129 ms 
mapping optimization time 134.173815 
add points time 0.756431 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317357999.003982067
prepare time 11.517532 
sort q time 4.972314 
seperate points time 11.188320 
publication time 7.632515 ms 
whole laserOdometry time 7.647614 ms 
 
-----t: 0.0492643
OdomCount 2282 & avg odom time 0.045685 ms ++++++++++++++++++++++
mapping data assosiation time 20.861433 ms 
mapping solver time 14.339458 ms 
filter time 11.332588 ms 
map prepare time 3.142205 ms
map corner num 180779  surf num 60676 
sort q time 4.788146 
seperate points time 11.549277 
publication time 8.969681 ms 
whole laserOdometry time 8.982686 ms 
 
build tree time 45.188954 ms 
mapping data assosiation time 21.757400 ms 
--------------------stamp1317357999.211775064
sort q time 6.207801 
seperate points time 12.040198 
publication time 9.430736 ms 
whole laserOdometry time 9.460059 ms 
 
[0m[ INFO] [1718890082.163596589, 1317357999.258854798]: Received 241455 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890082.163638945, 1317357999.258854798]: Data saved to 1317357998796173.pcd[0m
filter time 10.685187 ms 
--------------------stamp1317357999.315721035
sort q time 5.046172 
seperate points time 10.556891 
mapping data assosiation time 23.218081 ms 
-----t: 0.038994
OdomCount 2285 & avg odom time 0.045680 ms ++++++++++++++++++++++
mapping data assosiation time 19.705286 ms 
mapping solver time 19.072896 ms 
filter time 13.879579 ms 
map prepare time 3.919691 ms
map corner num 181724  surf num 60884 
publication time 8.244398 ms 
whole laserOdometry time 8.255641 ms 
 
-----t: 0.0410184
OdomCount 2286 & avg odom time 0.045678 ms ++++++++++++++++++++++
1317357999.419641971 WriteOdom laser_odom_to_init
1317357999.419641971 WriteOdom aft_mapped_to_init_high_frec
build tree time 45.683886 ms 
mapping data assosiation time 18.697260 ms 
mapping solver time 18.238861 ms 
points size 86859 
sort q time 4.648702 
seperate points time 11.266024 
publication time 7.798407 ms 
whole laserOdometry time 7.826723 ms 
 
mapping pub time 2.130210 ms 
whole mapping time 143.941570 ms +++++
mappingCount 1559 & avg mapping time 147.840826 ms ++++++++++++++++++++++
1317357999.315721035 WriteOdom aft_mapped_to_init
-----t: 0.0378454
OdomCount 2287 & avg odom time 0.045674 ms ++++++++++++++++++++++
1317357999.523581981 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317357999.523581981 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.849483 ms
map corner num 182244  surf num 61028 
build tree time 41.096736 ms 
points size 86087 
sort q time 5.171111 
seperate points time 10.423478 
publication time 7.691279 ms 
whole laserOdometry time 7.703488 ms 
 
-----t: 0.040141
OdomCount 2288 & avg odom time 0.045672 ms ++++++++++++++++++++++
mapping solver time 14.111298 ms 
mapping optimization time 124.934815 
add points time 0.728288 ms
map prepare time 3.048863 ms
map corner num 182679  surf num 61119 
points size 86201 
publication time 8.860140 ms 
whole laserOdometry time 8.876504 ms 
 
-----t: 0.0352656
OdomCount 2289 & avg odom time 0.045667 ms ++++++++++++++++++++++
1317357999.731446027 WriteOdom laser_odom_to_init
mapping data assosiation time 18.579349 ms 
mapping solver time 22.408345 ms 
mapping data assosiation time 19.204427 ms 
mapping solver time 20.582797 ms 
filter time 14.906528 ms 
--------------------stamp1317357999.939320087
mapping pub time 83.615719 ms 
whole mapping time 230.114580 ms +++++
publication time 9.377951 ms 
whole laserOdometry time 11.176269 ms 
 
-----t: 0.0367401
OdomCount 2291 & avg odom time 0.045657 ms ++++++++++++++++++++++
build tree time 44.755942 ms 
mapping data assosiation time 19.064957 ms 
--------------------stamp1317358000.043250083
mapping data assosiation time 21.534724 ms 
sort q time 5.502761 
seperate points time 20.432257 
scan registration time 35.714017 ms *************
1317358000.043250083 WriteOdom laser_odom_to_init
1317358000.043250083 WriteOdom aft_mapped_to_init_high_frec
publication time 6.802200 ms 
whole laserOdometry time 6.814399 ms 
 
build tree time 38.996283 ms 
points size 84181 
sort q time 5.441480 
seperate points time 10.756180 
publication time 7.447481 ms 
whole laserOdometry time 7.461265 ms 
 
mapping data assosiation time 21.700356 ms 
mapping solver time 15.965288 ms 
filter time 11.032968 ms 
--------------------stamp1317358000.251087903
sort q time 4.355311 
seperate points time 10.092038 
publication time 9.540026 ms 
whole laserOdometry time 9.562259 ms 
 
-----t: 0.0367204
OdomCount 2294 & avg odom time 0.045653 ms ++++++++++++++++++++++
mapping data assosiation time 18.416661 ms 
mapping solver time 17.571718 ms 
mapping data assosiation time 17.743408 ms 
mapping solver time 14.483355 ms 
filter time 12.582849 ms 
mapping pub time 1.999626 ms 
whole mapping time 133.598379 ms +++++
mappingCount 1564 & avg mapping time 147.874161 ms ++++++++++++++++++++++
1317358000.043250084 WriteOdom aft_mapped_to_init
map prepare time 3.615261 ms
map corner num 184700  surf num 61598 
publication time 8.335343 ms 
whole laserOdometry time 8.348903 ms 
 
-----t: 0.047219
OdomCount 2295 & avg odom time 0.045653 ms ++++++++++++++++++++++
build tree time 46.076349 ms 
mapping data assosiation time 18.910897 ms 
--------------------stamp1317358000.458959102
points size 81368 
mapping solver time 27.522537 ms 
publication time 7.128033 ms 
whole laserOdometry time 7.148913 ms 
 
mapping data assosiation time 21.508246 ms 
-----t: 0.0520508
OdomCount 2296 & avg odom time 0.045656 ms ++++++++++++++++++++++
1317358000.458959102 WriteOdom laser_odom_to_init
1317358000.458959102 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.744072 ms 
mapping optimization time 143.863647 
add points time 0.656954 ms
filter time 11.102035 ms 
--------------------stamp1317358000.562901973
sort q time 4.517975 
seperate points time 10.131454 
scan registration time 19.426088 ms *************
build tree time 45.343649 ms 
-----t: 0.0327219
OdomCount 2297 & avg odom time 0.045650 ms ++++++++++++++++++++++
mapping solver time 16.689661 ms 
mapping data assosiation time 18.820701 ms 
mapping solver time 12.577307 ms 
points size 85019 
map prepare time 3.711894 ms
map corner num 185791  surf num 61874 
publication time 9.244900 ms 
whole laserOdometry time 9.261744 ms 
 
-----t: 0.0420869
OdomCount 2298 & avg odom time 0.045649 ms ++++++++++++++++++++++
build tree time 45.910149 ms 
mapping data assosiation time 17.990344 ms 
--------------------stamp1317358000.770751953
sort q time 5.130330 
seperate points time 15.215592 -----t: 0.0332026
OdomCount 2299 & avg odom time 0.045643 ms ++++++++++++++++++++++
filter time 10.958550 ms 
--------------------stamp1317358000.874670028
sort q time 5.036138 
seperate points time 10.683571 
[0m[ INFO] [1718890083.813017303, 1317358000.907218828]: Received 247665 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890083.813058107, 1317358000.907218828]: Data saved to 1317358000355017.pcd[0m
publication time 12.356831 ms 
whole laserOdometry time 12.374810 ms 
 
-----t: 0.0306997
OdomCount 2300 & avg odom time 0.045637 ms ++++++++++++++++++++++
1317358000.874670028 WriteOdom laser_odom_to_init
mapping solver time 21.989981 ms 
1317358000.874670028 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.357292 ms 
mapping solver time 17.524830 ms 
filter time 12.983817 ms 
points size 87862 
sort q time 4.956164 
seperate points time 11.755021 
publication time 11.141906 ms 
whole laserOdometry time 11.157102 ms 
 
build tree time 49.518946 ms 
mapping data assosiation time 17.721288 ms 
mapping solver time 22.288042 ms 
--------------------stamp1317358001.082484960
points size 87527 
prepare time 10.119439 
mapping data assosiation time 21.860070 ms 
filter time 16.824818 ms 
-----t: 0.0539401
OdomCount 2302 & avg odom time 0.045637 ms ++++++++++++++++++++++
build tree time 41.121493 ms 
sort q time 5.474128 
seperate points time 10.565222 
publication time 7.422333 ms 
whole laserOdometry time 7.435244 ms 
 
mapping solver time 22.102296 ms 
mapping data assosiation time 21.587160 ms 
mapping solver time 17.271320 ms 
filter time 11.195927 ms 
points size 83268 
sort q time 4.498589 
seperate points time 10.176621 
publication time 8.905636 ms 
whole laserOdometry time 8.918560 ms 
 
-----t: 0.0344111
OdomCount 2304 & avg odom time 0.045634 ms ++++++++++++++++++++++
mapping data assosiation time 18.949119 ms 
mapping solver time 20.900105 ms 
--------------------stamp1317358001.394217967
sort q time 4.343953 
seperate points time 10.008204 
filter time 15.422517 ms 
map prepare time 3.611446 ms
map corner num 188417  surf num 62596 
build tree time 38.293563 ms 
--------------------stamp1317358001.498106002
sort q time 4.820135 
seperate points time 10.956932 
mapping solver time 25.380661 ms 
publication time 9.351264 ms 
whole laserOdometry time 9.366529 ms 
 
mapping solver time 16.832169 ms 
filter time 10.991793 ms 
map prepare time 2.844842 ms
map corner num 188941  surf num 62756 
--------------------stamp1317358001.602036952
sort q time 4.478404 
seperate points time 10.500649 
build tree time 44.317674 ms 
publication time 8.403962 ms 
whole laserOdometry time 8.412516 ms 
 
-----t: 0.0315784
OdomCount 2307 & avg odom time 0.045622 ms ++++++++++++++++++++++
1317358001.602036952 WriteOdom laser_odom_to_init
1317358001.602036952 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.395459 ms 
mapping solver time 22.037389 ms 
--------------------stamp1317358001.705951929
scan registration time 21.048669 ms *************publication time 9.581037 ms 
whole laserOdometry time 9.595172 ms 
 
build tree time 38.090101 ms 
--------------------stamp1317358001.809894084
sort q time 4.447150 
seperate points time 10.649378 
publication time 9.828699 ms 
whole laserOdometry time 9.843977 ms 
 
mapping data assosiation time 20.531267 ms 
mapping solver time 17.141324 ms 
mapping optimization time 123.539458 
add points time 0.706027 ms
mapping pub time 1.777227 ms 
whole mapping time 141.294076 ms +++++
mappingCount 1574 & avg mapping time 147.880030 ms ++++++++++++++++++++++
--------------------stamp1317358001.913846015
build tree time 55.884815 ms 
-----t: 0.044563
OdomCount 2310 & avg odom time 0.045609 ms ++++++++++++++++++++++
mapping data assosiation time 18.200080 ms 
points size 76326 
prepare time 9.291031 
mapping solver time 17.799751 ms 
mapping optimization time 135.033606 
add points time 0.879486 ms
filter time 14.490166 ms -----t: 0.0298517
OdomCount 2311 & avg odom time 0.045602 ms ++++++++++++++++++++++
build tree time 44.642731 ms 
mapping data assosiation time 17.544633 ms 
points size 74034 
sort q time 4.158144 
seperate points time 9.312023 
publication time 6.238675 ms 
whole laserOdometry time 6.251524 ms 
 
-----t: 0.0367523
OdomCount 2312 & avg odom time 0.045598 ms ++++++++++++++++++++++
filter time 12.453273 ms 
--------------------stamp1317358002.225687980
build tree time 42.468696 ms 
scan registration time 27.383574 ms *************
publication time 7.771114 ms 
whole laserOdometry time 7.784734 ms 
 
mapping solver time 18.871484 ms 
mapping data assosiation time 20.396559 ms 
mapping solver time 18.337621 ms 
filter time 14.008324 ms 
sort q time 3.953331 
seperate points time 9.489502 
publication time 5.469721 ms 
whole laserOdometry time 5.483659 ms 
 
build tree time 44.465933 ms 
mapping data assosiation time 19.214369 ms 
mapping solver time 16.430675 ms 
mapping data assosiation time 22.644382 ms 
publication time 8.420759 ms 
whole laserOdometry time 8.483543 ms 
 
filter time 15.387245 ms 
build tree time 41.622768 ms 
--------------------stamp1317358002.537585020
scan registration time 17.768482 ms *************
mapping solver time 21.179331 ms 
-----t: 0.0315871
OdomCount 2316 & avg odom time 0.045581 ms ++++++++++++++++++++++
mapping solver time 12.168764 ms 
filter time 11.130530 ms 
--------------------stamp1317358002.641580104
prepare time 9.060028 
sort q time 4.055355 
seperate points time 9.604067 
publication time 7.016159 ms 
whole laserOdometry time 7.027479 ms 
 
-----t: 0.0331004
OdomCount 2317 & avg odom time 0.045576 ms ++++++++++++++++++++++
mapping solver time 19.007723 ms 
mapping data assosiation time 18.024051 ms 
mapping optimization time 114.863785 
--------------------stamp1317358002.745573043
sort q time 4.179305 
seperate points time 10.191553 
publication time 8.294414 ms 
whole laserOdometry time 8.307237 ms 
 
-----t: 0.0334737
OdomCount 2318 & avg odom time 0.045570 ms ++++++++++++++++++++++
build tree time 49.266513 ms 
mapping data assosiation time 17.651352 ms 
mapping solver time 17.190681 ms 
--------------------stamp1317358002.849554061
sort q time 5.060152 
seperate points time 9.608774 
scan registration time 18.716441 ms *************
-----t: 0.0288973
OdomCount 2319 & avg odom time 0.045563 ms ++++++++++++++++++++++
--------------------stamp1317358002.953556060
sort q time 4.582951 
seperate points time 9.504687 
map prepare time 3.550871 ms
map corner num 193281  surf num 63959 
-----t: 0.0298094
OdomCount 2320 & avg odom time 0.045556 ms ++++++++++++++++++++++
build tree time 41.889853 ms 
mapping data assosiation time 17.510246 ms 
--------------------stamp1317358003.057569026
sort q time 4.150894 
seperate points time 10.194547 
-----t: 0.0306927
OdomCount 2321 & avg odom time 0.045550 ms ++++++++++++++++++++++
filter time 12.735322 ms 
--------------------stamp1317358003.161576986
build tree time 51.361962 ms 
publication time 7.404538 ms 
whole laserOdometry time 7.417674 ms 
 
-----t: 0.0400353
OdomCount 2322 & avg odom time 0.045548 ms ++++++++++++++++++++++
mapping data assosiation time 17.636168 ms 
mapping solver time 13.002677 ms 
mapping optimization time 121.643900 
add points time 0.692215 ms
filter time 13.248593 ms 
points size 76098 
sort q time 4.192297 
seperate points time 10.250326 
publication time 6.687701 ms 
whole laserOdometry time 6.701034 ms 
 
-----t: 0.0385794
OdomCount 2323 & avg odom time 0.045545 ms ++++++++++++++++++++++
mapping data assosiation time 16.431146 ms 
mapping solver time 19.263053 ms 
--------------------stamp1317358003.369621992
mapping solver time 18.304814 ms 
filter time 18.237643 ms 
[0m[ INFO] [1718890086.350355307, 1317358003.444895705]: Received 257240 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890086.350410275, 1317358003.444895705]: Data saved to 1317358002641580.pcd[0m
build tree time 49.873053 ms 
points size 78782 
sort q time 4.715822 
seperate points time 11.599397 
mapping solver time 20.746933 ms 
-----t: 0.040949
OdomCount 2325 & avg odom time 0.045537 ms ++++++++++++++++++++++
mapping solver time 12.614932 ms 
filter time 13.002167 ms 
--------------------stamp1317358003.577652931
scan registration time 20.369123 ms *************
publication time 6.991818 ms 
whole laserOdometry time 7.081250 ms 
 
-----t: 0.0310278
OdomCount 2326 & avg odom time 0.045530 ms ++++++++++++++++++++++
mapping data assosiation time 17.851407 ms 
mapping solver time 16.925114 ms 
mapping data assosiation time 17.470953 ms 
points size 80524 
sort q time 4.387880 
seperate points time 10.206831 
scan registration time 20.412156 ms *************
mapping pub time 7.756588 ms 
whole mapping time 156.778396 ms +++++
mappingCount 1586 & avg mapping time 147.897380 ms ++++++++++++++++++++++
-----t: 0.043478
OdomCount 2327 & avg odom time 0.045529 ms ++++++++++++++++++++++
build tree time 46.474965 ms 
--------------------stamp1317358003.785784959
sort q time 4.528432 
seperate points time 10.593487 
publication time 5.799243 ms 
whole laserOdometry time 5.811469 ms 
 
-----t: 0.0382519
OdomCount 2328 & avg odom time 0.045526 ms ++++++++++++++++++++++
1317358003.785784959 WriteOdom laser_odom_to_init
1317358003.785784959 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.282554 ms 
filter time 12.966001 ms 
--------------------stamp1317358003.889826059
prepare time 9.427728 
sort q time 4.447768 
seperate points time 10.528675 
publication time 7.972146 ms 
whole laserOdometry time 7.983829 ms 
 
mapping solver time 12.292110 ms 
mapping data assosiation time 16.511701 ms 
mapping solver time 9.178762 ms 
filter time 12.851920 ms 
map prepare time 3.755002 ms
map corner num 220868  surf num 72110 
sort q time 4.642253 
seperate points time 10.814452 
scan registration time 22.976909 ms *************
-----t: 0.0365544
OdomCount 2330 & avg odom time 0.045517 ms ++++++++++++++++++++++
mapping data assosiation time 17.873745 ms 
mapping solver time 16.713376 ms 
points size 82685 
sort q time 5.338911 
seperate points time 10.837417 
scan registration time 20.429020 ms *************
filter time 16.098742 ms 
mapping pub time 1.847588 ms 
whole mapping time 150.098890 ms +++++
mappingCount 1589 & avg mapping time 147.882608 ms ++++++++++++++++++++++
1317358003.889826059 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358004.201996088
sort q time 4.786279 
seperate points time 9.534722 
publication time 7.783120 ms 
whole laserOdometry time 7.813153 ms 
 
mapping solver time 25.008910 ms 
mapping data assosiation time 18.611528 ms 
mapping solver time 13.404250 ms 
filter time 12.933960 ms 
--------------------stamp1317358004.306030988
sort q time 5.078471 
seperate points time 9.849670 
[0m[ INFO] [1718890087.234089881, 1317358004.331318660]: Received 292059 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890087.234124965, 1317358004.331318660]: Data saved to 1317358003473625.pcd[0m
build tree time 53.825375 ms 
-----t: 0.0449628
OdomCount 2333 & avg odom time 0.045509 ms ++++++++++++++++++++++
mapping solver time 17.214387 ms 
--------------------stamp1317358004.410068988
points size 85275 
sort q time 5.186304 
seperate points time 11.330810 
publication time 5.827315 ms 
whole laserOdometry time 5.840743 ms 
 
filter time 18.343190 ms 
map prepare time 3.116939 ms
map corner num 222044  surf num 72432 
--------------------stamp1317358004.514096021
points size 86824 
mapping data assosiation time 20.310324 ms 
-----t: 0.0337674
OdomCount 2335 & avg odom time 0.045504 ms ++++++++++++++++++++++
mapping solver time 21.019106 ms 
mapping data assosiation time 16.796266 ms 
mapping solver time 13.087107 ms 
filter time 13.829012 ms 
points size 88488 
sort q time 4.759539 
seperate points time 11.418272 
publication time 7.141636 ms 
whole laserOdometry time 7.157836 ms 
 
build tree time 55.257179 ms 
mapping data assosiation time 19.764571 ms 
--------------------stamp1317358004.722162961
sort q time 5.090459 
seperate points time 11.154214 
mapping solver time 21.268693 ms 
mapping optimization time 140.599186 
add points time 0.866427 ms
publication time 9.587370 ms 
whole laserOdometry time 9.595997 ms 
 
-----t: 0.0310967
OdomCount 2337 & avg odom time 0.045492 ms ++++++++++++++++++++++
1317358004.722162961 WriteOdom laser_odom_to_init
1317358004.722162961 WriteOdom aft_mapped_to_init_high_frec
filter time 13.460718 ms 
map prepare time 3.079230 ms
map corner num 222757  surf num 72660 
--------------------stamp1317358004.826211929
sort q time 5.493381 
seperate points time 11.456944 
scan registration time 23.276834 ms *************
publication time 8.136761 ms 
whole laserOdometry time 8.149664 ms 
 
-----t: 0.0371352
OdomCount 2338 & avg odom time 0.045488 ms ++++++++++++++++++++++
mapping data assosiation time 17.664827 ms 
mapping solver time 13.233143 ms 
filter time 15.202125 ms 
points size 91792 
sort q time 5.590453 
seperate points time 11.837684 
publication time 8.438523 ms 
whole laserOdometry time 8.455370 ms 
 
-----t: 0.0383074
OdomCount 2339 & avg odom time 0.045485 ms ++++++++++++++++++++++
mapping data assosiation time 17.679391 ms 
mapping solver time 18.442550 ms 
--------------------stamp1317358005.034312009
points size 90419 
sort q time 4.672600 
seperate points time 10.906839 
scan registration time 24.069579 ms *************
filter time 17.894299 ms 
-----t: 0.039805
OdomCount 2340 & avg odom time 0.045483 ms ++++++++++++++++++++++
--------------------stamp1317358005.138340950
sort q time 4.983413 
seperate points time 11.766412 
-----t: 0.0340206
OdomCount 2341 & avg odom time 0.045478 ms ++++++++++++++++++++++
mapping data assosiation time 19.942213 ms 
mapping solver time 17.880261 ms 
--------------------stamp1317358005.242356061
map prepare time 4.274361 ms
map corner num 223786  surf num 72976 
publication time 7.328849 ms 
whole laserOdometry time 7.344258 ms 
 
-----t: 0.0357998
OdomCount 2342 & avg odom time 0.045474 ms ++++++++++++++++++++++
build tree time 54.273766 ms 
mapping data assosiation time 16.811078 ms 
[0m[ INFO] [1718890088.241807168, 1317358005.340537726]: Received 296762 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890088.241845798, 1317358005.340537726]: Data saved to 1317358004930248.pcd[0m
mapping solver time 24.678435 ms 
points size 89145 
prepare time 10.263832 
mapping data assosiation time 21.689999 ms 
publication time 7.208479 ms 
whole laserOdometry time 7.221756 ms 
 
-----t: 0.0510106
OdomCount 2343 & avg odom time 0.045476 ms ++++++++++++++++++++++
mapping pub time 2.034436 ms 
whole mapping time 165.963780 ms +++++
mappingCount 1597 & avg mapping time 147.927063 ms ++++++++++++++++++++++
--------------------stamp1317358005.450383901points size 88805 
sort q time 4.895137 
seperate points time 11.743288 
publication time 7.006438 ms 
whole laserOdometry time 7.021358 ms 
 
mapping data assosiation time 24.209093 ms 
mapping solver time 17.001836 ms 
mapping data assosiation time 17.564567 ms 
--------------------stamp1317358005.554400920
points size 87711 
filter time 19.478128 ms 
sort q time 4.771602 
seperate points time 11.482857 
-----t: 0.037821
OdomCount 2345 & avg odom time 0.045468 ms ++++++++++++++++++++++
1317358005.554400920 WriteOdom laser_odom_to_init
1317358005.554400920 WriteOdom aft_mapped_to_init_high_frec
build tree time 50.059697 ms 
mapping data assosiation time 17.425605 ms 
points size 85678 
sort q time 5.210260 
seperate points time 11.074762 
mapping data assosiation time 21.444873 ms 
-----t: 0.0383472
OdomCount 2346 & avg odom time 0.045465 ms ++++++++++++++++++++++
mapping solver time 21.011646 ms 
mapping pub time 2.021052 ms 
whole mapping time 154.182139 ms +++++
mappingCount 1599 & avg mapping time 147.936099 ms ++++++++++++++++++++++
--------------------stamp1317358005.762392044
build tree time 34.776727 ms 
mapping data assosiation time 20.628048 ms 
mapping solver time 22.734470 ms 
mapping data assosiation time 18.405310 ms 
mapping solver time 17.815103 ms 
filter time 8.801921 ms 
points size 80999 
prepare time 9.828708 
publication time 7.388762 ms 
whole laserOdometry time 7.396452 ms 
 
-----t: 0.0309916
OdomCount 2348 & avg odom time 0.045454 ms ++++++++++++++++++++++
build tree time 36.146638 ms 
1317358005.866394996 WriteOdom laser_odom_to_init
1317358005.866394996 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.712244 ms 
mapping solver time 17.501341 ms 
mapping data assosiation time 20.145785 ms 
points size 78240 
sort q time 4.284231 
seperate points time 10.123189 
publication time 7.957800 ms 
whole laserOdometry time 7.971006 ms 
 
--------------------stamp1317358006.074424982
sort q time 4.317294 
seperate points time 9.323644 
publication time 6.811735 ms 
whole laserOdometry time 6.835598 ms 
 
-----t: 0.0299914
OdomCount 2350 & avg odom time 0.045441 ms ++++++++++++++++++++++
mapping data assosiation time 17.114052 ms 
mapping solver time 17.414300 ms 
mapping data assosiation time 18.247974 ms 
points size 74431 
mapping solver time 14.122220 ms 
prepare time 8.899741 
mapping optimization time 104.558322 
add points time 0.808862 ms
publication time 7.186203 ms 
whole laserOdometry time 7.201263 ms 
 
build tree time 33.378886 ms 
mapping data assosiation time 16.532231 ms 
mapping solver time 20.503339 ms 
points size 74177 
mapping data assosiation time 20.688119 ms 
sort q time 4.406522 
seperate points time 8.930302 
scan registration time 18.657605 ms *************
mapping solver time 21.653869 ms 
filter time 10.861970 ms 
[0m[ INFO] [1718890089.241484806, 1317358006.338906860]: Received 188821 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890089.241518061, 1317358006.338906860]: Data saved to 1317358005762392.pcd[0m
build tree time 32.133551 ms 
--------------------stamp1317358006.386475086
sort q time 4.017169 
seperate points time 9.617108 
publication time 6.535368 ms 
whole laserOdometry time 6.551608 ms 
 
mapping data assosiation time 20.791542 ms 
mapping solver time 14.287411 ms 
filter time 10.025445 ms 
--------------------stamp1317358006.490519046
sort q time 4.073392 
seperate points time 9.590494 
publication time 5.686420 ms 
whole laserOdometry time 5.722014 ms 
 
sort q time 3.704554 
seperate points time 7.818301 
mapping data assosiation time 19.002390 ms 
-----t: 0.0342996
OdomCount 2355 & avg odom time 0.045423 ms ++++++++++++++++++++++
mapping data assosiation time 15.614021 ms 
mapping solver time 11.726676 ms 
filter time 9.318961 ms 
map prepare time 2.355067 ms
map corner num 144704  surf num 46437 
points size 73813 
sort q time 4.099064 
seperate points time 9.784849 
scan registration time 20.230962 ms *************
-----t: 0.0325472
OdomCount 2356 & avg odom time 0.045418 ms ++++++++++++++++++++++
mapping solver time 15.487695 ms 
mapping data assosiation time 15.951123 ms 
mapping solver time 12.359491 ms 
filter time 9.358237 ms 
sort q time 4.099294 
seperate points time 9.977004 
publication time 6.445534 ms 
whole laserOdometry time 6.455482 ms 
 
build tree time 43.634557 ms 
-----t: 0.0402082
OdomCount 2357 & avg odom time 0.045416 ms ++++++++++++++++++++++
1317358006.802638053 WriteOdom laser_odom_to_init
1317358006.802638053 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.883882 ms 
mapping solver time 16.326048 ms 
--------------------stamp1317358006.906636953
mapping solver time 14.725125 ms 
filter time 10.030508 ms 
publication time 7.936201 ms 
whole laserOdometry time 7.950372 ms 
 
-----t: 0.0383338
OdomCount 2358 & avg odom time 0.045413 ms ++++++++++++++++++++++
build tree time 38.035671 ms 
mapping data assosiation time 15.555412 ms 
--------------------stamp1317358007.010673999
points size 72730 
scan registration time 24.391849 ms *************
mapping data assosiation time 19.364354 ms 
mapping solver time 19.065626 ms 
filter time 10.951401 ms 
mapping pub time 1.676486 ms 
whole mapping time 131.680455 ms +++++
mappingCount 1609 & avg mapping time 147.831736 ms ++++++++++++++++++++++
1317358006.802638054 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.452433 ms
map corner num 145642  surf num 46778 
build tree time 34.187771 ms 
points size 72651 
sort q time 3.986037 
seperate points time 9.537124 
mapping solver time 23.999810 ms 
mapping data assosiation time 19.384936 ms 
mapping optimization time 111.907547 
add points time 0.630370 ms
map prepare time 2.350300 ms
map corner num 145947  surf num 46894 
--------------------stamp1317358007.218741893
prepare time 8.545957 
build tree time 34.681853 ms 
publication time 5.741044 ms 
whole laserOdometry time 5.754629 ms 
 
mapping solver time 19.692200 ms 
mapping data assosiation time 16.445258 ms 
mapping solver time 16.338412 ms 
filter time 9.104593 ms 
map prepare time 3.470233 ms
map corner num 146352  surf num 47055 
publication time 5.863343 ms 
whole laserOdometry time 5.877270 ms 
 
-----t: 0.0271844
OdomCount 2362 & avg odom time 0.045385 ms ++++++++++++++++++++++
mapping data assosiation time 16.535755 ms 
mapping solver time 20.062561 ms 
--------------------stamp1317358007.426805973
sort q time 5.018643 
seperate points time 9.574949 
publication time 6.038188 ms 
whole laserOdometry time 6.051693 ms 
 
filter time 12.651764 ms 
mapping pub time 1.681567 ms 
whole mapping time 133.542719 ms +++++
mappingCount 1612 & avg mapping time 147.798271 ms ++++++++++++++++++++++
1317358007.218741894 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0391131
OdomCount 2363 & avg odom time 0.045383 ms ++++++++++++++++++++++
build tree time 31.416708 ms 
mapping data assosiation time 17.294789 ms 
--------------------stamp1317358007.530855894
sort q time 4.066608 
seperate points time 9.094737 
publication time 6.107520 ms 
whole laserOdometry time 6.120162 ms 
 
mapping solver time 15.788053 ms 
filter time 10.676674 ms 
build tree time 27.737032 ms 
mapping data assosiation time 16.885735 ms 
sort q time 4.526602 
seperate points time 8.715272 
publication time 6.003497 ms 
whole laserOdometry time 6.017346 ms 
 
mapping solver time 12.469528 ms 
filter time 9.311802 ms 
build tree time 30.187455 ms 
points size 75274 
sort q time 4.205807 
seperate points time 10.072779 
mapping solver time 22.195638 ms 
mapping data assosiation time 18.757116 ms 
mapping solver time 14.409017 ms 
filter time 8.715251 ms 
--------------------stamp1317358007.842839002
sort q time 4.079378 
seperate points time 9.862617 publication time 6.386768 ms 
whole laserOdometry time 6.422790 ms 
 
mapping solver time 21.051173 ms 
mapping data assosiation time 16.748448 ms 
mapping solver time 15.194906 ms 
filter time 11.686126 ms 
sort q time 3.922740 
seperate points time 9.104601 
publication time 6.574144 ms 
whole laserOdometry time 6.600176 ms 
 
build tree time 36.738404 ms 
mapping data assosiation time 18.508265 ms 
mapping solver time 17.000185 ms 
--------------------stamp1317358008.050828933
sort q time 4.143418 
seperate points time 9.811978 
filter time 13.069033 ms 
build tree time 29.707167 ms 
mapping data assosiation time 18.225687 ms 
--------------------stamp1317358008.154845952
prepare time 10.390662 
sort q time 5.142243 
seperate points time 11.391638 
publication time 8.698105 ms 
whole laserOdometry time 8.712057 ms 
 
1317358008.154845952 WriteOdom laser_odom_to_init
filter time 11.852561 ms 
build tree time 29.568621 ms 
points size 76414 
mapping data assosiation time 22.489197 ms 
publication time 5.893101 ms 
whole laserOdometry time 5.906754 ms 
 
-----t: 0.0263691
OdomCount 2371 & avg odom time 0.045334 ms ++++++++++++++++++++++
1317358008.258860111 WriteOdom laser_odom_to_init
mapping solver time 22.954601 ms 
1317358008.258860111 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.842466 ms 
mapping solver time 13.827713 ms 
filter time 8.799702 ms 
--------------------stamp1317358008.362863063
points size 76868 
sort q time 4.120381 
seperate points time 9.823619 
build tree time 42.424451 ms 
-----t: 0.0343034
OdomCount 2372 & avg odom time 0.045329 ms ++++++++++++++++++++++
mapping solver time 21.821832 ms 
mapping data assosiation time 19.320833 ms 
--------------------stamp1317358008.466877937
points size 78609 
prepare time 9.609651 
map prepare time 3.062706 ms
map corner num 149612  surf num 48228 
publication time 14.892374 ms 
whole laserOdometry time 14.905148 ms 
 
-----t: 0.0482427
OdomCount 2373 & avg odom time 0.045331 ms ++++++++++++++++++++++
mapping data assosiation time 19.293449 ms 
--------------------stamp1317358008.570892095
points size 81151 
sort q time 5.294606 
seperate points time 12.316015 
mapping data assosiation time 22.939012 ms 
scan registration time 26.530163 ms *************
add points time 0.770450 ms
-----t: 0.0417438
OdomCount 2374 & avg odom time 0.045329 ms ++++++++++++++++++++++
--------------------stamp1317358008.674916028
sort q time 4.588080 
seperate points time 10.965853 
drop lidar frame in mapping for real time performance 
-----t: 0.0382162
OdomCount 2375 & avg odom time 0.045326 ms ++++++++++++++++++++++
1317358008.674916028 WriteOdom laser_odom_to_init
1317358008.674916028 WriteOdom aft_mapped_to_init_high_frec
build tree time 32.292056 ms 
mapping data assosiation time 19.181644 ms 
--------------------stamp1317358008.778930902
prepare time 9.885732 
scan registration time 23.597512 ms *************
publication time 7.346131 ms 
whole laserOdometry time 7.362507 ms 
 
-----t: 0.0402277
OdomCount 2376 & avg odom time 0.045324 ms ++++++++++++++++++++++
build tree time 31.918077 ms 
--------------------stamp1317358008.882946014
mapping data assosiation time 22.306919 ms 
sort q time 5.030326 
seperate points time 11.498217 
mapping solver time 24.373733 ms 
-----t: 0.037483
OdomCount 2377 & avg odom time 0.045321 ms ++++++++++++++++++++++
1317358008.882946014 WriteOdom laser_odom_to_init
1317358008.882946014 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.441488 ms 
filter time 11.212340 ms 
mapping pub time 1.977291 ms 
whole mapping time 133.093335 ms +++++
mappingCount 1623 & avg mapping time 147.711657 ms ++++++++++++++++++++++
1317358008.674916029 WriteOdom aft_mapped_to_init
points size 86365 
sort q time 4.766272 
seperate points time 11.344561 
publication time 8.121907 ms 
whole laserOdometry time 8.139246 ms 
 
-----t: 0.042245
OdomCount 2378 & avg odom time 0.045319 ms ++++++++++++++++++++++
mapping solver time 19.786648 ms 
mapping data assosiation time 22.156005 ms 
--------------------stamp1317358009.090923070
filter time 9.681814 ms 
mapping pub time 1.979147 ms 
whole mapping time 134.639605 ms +++++
mappingCount 1624 & avg mapping time 147.703612 ms ++++++++++++++++++++++
1317358008.882946014 WriteOdom aft_mapped_to_init
publication time 7.523129 ms 
whole laserOdometry time 7.535964 ms 
 
-----t: 0.0386304
OdomCount 2379 & avg odom time 0.045316 ms ++++++++++++++++++++++
1317358009.090923070 WriteOdom laser_odom_to_init
1317358009.090923070 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.278432 ms 
mapping data assosiation time 20.092837 ms 
mapping solver time 20.452944 ms 
points size 88554 
scan registration time 24.715839 ms *************
publication time 7.455574 ms 
whole laserOdometry time 7.463541 ms 
 
filter time 9.599202 ms 
build tree time 29.179156 ms 
--------------------stamp1317358009.298958063
mapping data assosiation time 23.400412 ms 
sort q time 5.070503 
seperate points time 11.866745 
mapping solver time 23.918083 ms 
publication time 9.520624 ms 
whole laserOdometry time 9.536050 ms 
 
-----t: 0.0428683
OdomCount 2381 & avg odom time 0.045314 ms ++++++++++++++++++++++
mapping solver time 15.637093 ms 
filter time 9.508687 ms 
--------------------stamp1317358009.403002023
points size 92363 
build tree time 40.606559 ms 
publication time 12.162285 ms 
whole laserOdometry time 12.179183 ms 
 
-----t: 0.0432899
OdomCount 2382 & avg odom time 0.045313 ms ++++++++++++++++++++++
mapping solver time 20.596226 ms 
mapping data assosiation time 22.644555 ms 
points size 93684 
sort q time 5.232071 
seperate points time 12.945492 
publication time 8.804455 ms 
whole laserOdometry time 8.818053 ms 
 
-----t: 0.0547263
OdomCount 2383 & avg odom time 0.045317 ms ++++++++++++++++++++++
[0m[ INFO] [1718890092.499344512, 1317358009.596347480]: Received 201872 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890092.499381139, 1317358009.596347480]: Data saved to 1317358009090923.pcd[0m
--------------------stamp1317358009.611102104
points size 95272 
mapping solver time 23.388335 ms 
publication time 8.764996 ms 
whole laserOdometry time 8.782444 ms 
 
-----t: 0.045908
OdomCount 2384 & avg odom time 0.045317 ms ++++++++++++++++++++++
filter time 9.859056 ms 
--------------------stamp1317358009.715213060
points size 96188 
sort q time 7.524565 
seperate points time 15.602872 
mapping data assosiation time 28.276614 ms 
-----t: 0.0561785
OdomCount 2385 & avg odom time 0.045322 ms ++++++++++++++++++++++
mapping data assosiation time 21.970572 ms 
points size 97602 
mapping pub time 2.197703 ms 
whole mapping time 152.464047 ms +++++
mappingCount 1629 & avg mapping time 147.695571 ms ++++++++++++++++++++++
1317358009.507036924 WriteOdom aft_mapped_to_init
sort q time 5.248736 
seperate points time 12.645615 
scan registration time 32.136413 ms *************
map prepare time 4.246172 ms
map corner num 154335  surf num 49911 
publication time 8.200168 ms 
whole laserOdometry time 8.215587 ms 
 
-----t: 0.0431337
OdomCount 2386 & avg odom time 0.045321 ms ++++++++++++++++++++++
1317358009.819299936 WriteOdom laser_odom_to_init
1317358009.819299936 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.541714 ms 
--------------------stamp1317358009.923388004
points size 98881 
sort q time 5.347912 
seperate points time 12.631472 
scan registration time 31.645406 ms *************
mapping data assosiation time 28.741826 ms 
-----t: 0.0459329
OdomCount 2387 & avg odom time 0.045321 ms ++++++++++++++++++++++
1317358009.923388004 WriteOdom laser_odom_to_init
1317358009.923388004 WriteOdom aft_mapped_to_init_high_frec
publication time 26.866161 ms 
whole laserOdometry time 26.874106 ms 
 
mapping solver time 21.243572 ms 
mapping optimization time 134.649167 
add points time 0.858152 ms
mapping pub time 2.193159 ms 
whole mapping time 151.501535 ms +++++
mappingCount 1630 & avg mapping time 147.697908 ms ++++++++++++++++++++++
--------------------stamp1317358010.027523040
prepare time 11.402908 
scan registration time 30.169712 ms *************
publication time 7.703056 ms 
whole laserOdometry time 7.723473 ms 
 
1317358010.027523040 WriteOdom laser_odom_to_init
1317358010.027523040 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.780862 ms 
mapping data assosiation time 24.547596 ms 
mapping solver time 18.991163 ms 
filter time 11.946371 ms 
publication time 9.598449 ms 
whole laserOdometry time 9.612095 ms 
 
-----t: 0.0512235
OdomCount 2389 & avg odom time 0.045324 ms ++++++++++++++++++++++
mapping data assosiation time 27.537508 ms 
points size 101927 
sort q time 5.994661 
seperate points time 13.843049 
[0m[ INFO] [1718890093.175036253, 1317358010.269276265]: Received 206016 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890093.175092824, 1317358010.269276265]: Data saved to 1317358009819299.pcd[0m
-----t: 0.0453304
OdomCount 2390 & avg odom time 0.045324 ms ++++++++++++++++++++++
mapping solver time 16.912224 ms 
mapping optimization time 149.565163 
add points time 0.966890 ms
mapping pub time 2.410596 ms 
whole mapping time 166.483371 ms +++++
mappingCount 1632 & avg mapping time 147.714974 ms ++++++++++++++++++++++
--------------------stamp1317358010.339999914
points size 102086 
sort q time 5.600667 
seperate points time 12.797479 
publication time 10.506892 ms 
whole laserOdometry time 10.519987 ms 
 
-----t: 0.0435462
OdomCount 2391 & avg odom time 0.045323 ms ++++++++++++++++++++++
mapping solver time 32.229014 ms 
points size 102332 
sort q time 5.858967 
seperate points time 13.335917 
publication time 10.771412 ms 
whole laserOdometry time 10.785275 ms 
 
filter time 11.776500 ms 
build tree time 30.608214 ms 
points size 102499 
mapping data assosiation time 28.325477 ms 
sort q time 6.524615 
seperate points time 12.496634 
scan registration time 28.584823 ms *************
publication time 9.239523 ms 
whole laserOdometry time 9.253131 ms 
 
-----t: 0.0611881
OdomCount 2393 & avg odom time 0.045331 ms ++++++++++++++++++++++
--------------------stamp1317358010.652596950
mapping optimization time 145.746175 
filter time 10.255643 ms 
mapping pub time 2.422056 ms 
whole mapping time 163.707308 ms +++++
mappingCount 1634 & avg mapping time 147.742410 ms ++++++++++++++++++++++
1317358010.339999914 WriteOdom aft_mapped_to_init
sort q time 5.916187 
seperate points time 12.911444 
map prepare time 3.185947 ms
map corner num 157703  surf num 51313 
scan registration time 29.856101 ms *************
publication time 11.928178 ms 
whole laserOdometry time 11.940685 ms 
 
build tree time 42.505112 ms 
mapping data assosiation time 26.194536 ms 
--------------------stamp1317358010.756778001
points size 102900 
prepare time 11.520289 
sort q time 6.098279 
seperate points time 13.075054 
scan registration time 30.162369 ms *************
publication time 9.362894 ms 
whole laserOdometry time 9.379738 ms 
 
-----t: 0.0551656
OdomCount 2395 & avg odom time 0.045342 ms ++++++++++++++++++++++
add points time 1.000399 ms
filter time 10.257553 ms 
mapping pub time 2.252934 ms 
whole mapping time 171.334647 ms +++++
mappingCount 1635 & avg mapping time 147.756841 ms ++++++++++++++++++++++
1317358010.548389912 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 102888 
sort q time 5.583327 
seperate points time 12.444837 
scan registration time 29.221673 ms *************
mapping data assosiation time 33.173104 ms 
-----t: 0.0530616
OdomCount 2396 & avg odom time 0.045345 ms ++++++++++++++++++++++
mapping solver time 28.984819 ms 
points size 102942 
mapping data assosiation time 32.920219 ms 
-----t: 0.0368892
OdomCount 2397 & avg odom time 0.045341 ms ++++++++++++++++++++++
1317358010.965073108 WriteOdom laser_odom_to_init
1317358010.965073108 WriteOdom aft_mapped_to_init_high_frec
publication time 8.298862 ms 
whole laserOdometry time 8.314180 ms 
 
mapping solver time 28.277101 ms 
mapping optimization time 167.048017 
filter time 10.971997 ms 
mapping pub time 5.345576 ms 
whole mapping time 187.805042 ms +++++
mappingCount 1636 & avg mapping time 147.781323 ms ++++++++++++++++++++++
1317358010.652596951 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718890093.938382257, 1317358011.040023715]: Received 210997 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890093.938421229, 1317358011.040023715]: Data saved to 1317358010652596.pcd[0m
drop lidar frame in mapping for real time performance 
--------------------stamp1317358011.069158077
points size 103108 
sort q time 6.167958 
seperate points time 13.321123 
mapping data assosiation time 31.410709 ms 
publication time 8.717415 ms 
whole laserOdometry time 8.770197 ms 
 
mapping solver time 28.090915 ms 
mapping data assosiation time 27.454486 ms 
points size 103167 
sort q time 5.727302 
seperate points time 13.870424 
map prepare time 5.608806 ms
map corner num 159666  surf num 52305 
-----t: 0.05887
OdomCount 2399 & avg odom time 0.045348 ms ++++++++++++++++++++++
build tree time 50.615608 ms 
points size 103259 
sort q time 6.185377 
seperate points time 14.208807 
mapping solver time 28.168402 ms 
mapping data assosiation time 26.725141 ms 
mapping solver time 18.837856 ms 
prepare time 11.862402 
sort q time 6.250593 
seperate points time 14.522287 
publication time 16.200737 ms 
whole laserOdometry time 16.216774 ms 
 
-----t: 0.0577523
OdomCount 2401 & avg odom time 0.045354 ms ++++++++++++++++++++++
1317358011.381396055 WriteOdom laser_odom_to_init
1317358011.381396055 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.166489 ms 
--------------------stamp1317358011.485456943
mapping solver time 25.060945 ms 
sort q time 6.073772 
seperate points time 14.194549 
mapping data assosiation time 28.132816 ms 
publication time 11.727533 ms 
whole laserOdometry time 11.739632 ms 
 
filter time 10.266671 ms 
--------------------stamp1317358011.589543104
points size 103441 
sort q time 6.161827 
seperate points time 14.084368 
mapping data assosiation time 34.779978 ms 
-----t: 0.0469298
OdomCount 2403 & avg odom time 0.045363 ms ++++++++++++++++++++++
publication time 22.202675 ms 
whole laserOdometry time 22.217501 ms 
 
mapping solver time 29.173069 ms 
--------------------stamp1317358011.693679094
prepare time 11.950356 
sort q time 5.885768 
seperate points time 13.300423 
filter time 13.743714 ms 
-----t: 0.0525739
OdomCount 2404 & avg odom time 0.045366 ms ++++++++++++++++++++++
build tree time 34.333967 ms 
--------------------stamp1317358011.797816038
prepare time 11.352019 
sort q time 5.794654 
seperate points time 13.110360 
publication time 8.691721 ms 
whole laserOdometry time 8.705349 ms 
 
mapping data assosiation time 26.565154 ms 
--------------------stamp1317358011.901949882
prepare time 13.186961 
sort q time 13.783368 
seperate points time 21.768406 
publication time 9.295572 ms 
whole laserOdometry time 9.310294 ms 
 
-----t: 0.0609759
OdomCount 2406 & avg odom time 0.045371 ms ++++++++++++++++++++++
--------------------stamp1317358012.006105899
points size 104103 
sort q time 6.616528 
seperate points time 14.137307 
publication time 9.033752 ms 
whole laserOdometry time 9.049496 ms 
 
mapping data assosiation time 27.799093 ms 
--------------------stamp1317358012.110264062
mapping solver time 31.054285 ms 
sort q time 5.883257 
seperate points time 13.547586 
mapping data assosiation time 30.789955 ms 
publication time 10.251055 ms 
whole laserOdometry time 10.264973 ms 
 
mapping solver time 29.456204 ms 
filter time 12.494153 ms 
mapping pub time 2.486224 ms 
whole mapping time 183.266175 ms +++++
mappingCount 1642 & avg mapping time 147.934690 ms ++++++++++++++++++++++
1317358011.693679094 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358012.214422941
prepare time 11.298140 
sort q time 7.000144 
seperate points time 13.070152 
publication time 10.260453 ms 
whole laserOdometry time 10.277105 ms 
 
-----t: 0.062144
OdomCount 2409 & avg odom time 0.045385 ms ++++++++++++++++++++++
mapping solver time 30.707452 ms 
--------------------stamp1317358012.318583011
prepare time 12.472171 
sort q time 6.391250 
seperate points time 13.139466 
publication time 8.058360 ms 
whole laserOdometry time 8.067427 ms 
 
mapping solver time 31.801005 ms 
mapping optimization time 164.259030 
add points time 1.067545 ms
-----t: 0.0504077
OdomCount 2410 & avg odom time 0.045387 ms ++++++++++++++++++++++
map prepare time 3.219667 ms
map corner num 162950  surf num 53601 
--------------------stamp1317358012.422740936
prepare time 11.846190 
mapping data assosiation time 31.426313 ms 
publication time 9.002645 ms 
whole laserOdometry time 9.014759 ms 
 
mapping solver time 38.591842 ms 
mapping data assosiation time 25.826832 ms 
points size 103763 
sort q time 5.760750 
seperate points time 13.716366 
map prepare time 4.052032 ms
map corner num 163526  surf num 53836 
-----t: 0.05125
OdomCount 2412 & avg odom time 0.045393 ms ++++++++++++++++++++++
1317358012.526922941 WriteOdom laser_odom_to_init
1317358012.526922941 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358012.631130933
points size 103706 
sort q time 5.804551 
seperate points time 13.623399 
publication time 7.239371 ms 
whole laserOdometry time 7.252226 ms 
 
mapping solver time 39.689450 ms 
-----t: 0.051515
OdomCount 2413 & avg odom time 0.045395 ms ++++++++++++++++++++++
mapping data assosiation time 31.053227 ms 
mapping solver time 19.528672 ms 
--------------------stamp1317358012.735336065
prepare time 12.178741 
sort q time 6.883851 
seperate points time 12.973171 
publication time 9.003916 ms 
whole laserOdometry time 9.021322 ms 
 
-----t: 0.0566687
OdomCount 2414 & avg odom time 0.045400 ms ++++++++++++++++++++++
mapping data assosiation time 29.627116 ms 
--------------------stamp1317358012.839565992
prepare time 11.245205 
sort q time 6.727234 
seperate points time 12.984971 
scan registration time 30.301587 ms *************
mapping data assosiation time 34.341339 ms 
publication time 9.842086 ms 
whole laserOdometry time 9.855845 ms 
 
mapping solver time 27.849178 ms 
mapping optimization time 167.919682 
add points time 1.045211 ms
mapping pub time 5.425457 ms 
whole mapping time 188.493770 ms +++++
mappingCount 1646 & avg mapping time 148.016570 ms ++++++++++++++++++++++
points size 103739 
build tree time 39.492006 ms 
publication time 9.562900 ms 
whole laserOdometry time 9.592935 ms 
 
mapping solver time 31.331942 ms 
points size 103671 
mapping data assosiation time 32.551407 ms 
mapping solver time 25.962034 ms 
filter time 11.342295 ms 
map prepare time 3.240749 ms
map corner num 165112  surf num 54411 
--------------------stamp1317358013.152211904
points size 103709 
build tree time 37.383093 ms 
sort q time 6.420661 
seperate points time 12.514185 
mapping data assosiation time 29.718355 ms 
publication time 14.454258 ms 
whole laserOdometry time 14.466542 ms 
 
mapping solver time 31.006260 ms 
mapping data assosiation time 27.507886 ms 
points size 103773 
filter time 16.199244 ms 
map prepare time 4.419177 ms
map corner num 165688  surf num 54598 
sort q time 21.245037 
seperate points time 43.172285 
-----t: 0.0552193
OdomCount 2419 & avg odom time 0.045419 ms ++++++++++++++++++++++
1317358013.256417036 WriteOdom laser_odom_to_init
1317358013.256417036 WriteOdom aft_mapped_to_init_high_frec
build tree time 42.302873 ms 
--------------------stamp1317358013.360625028
points size 104017 
sort q time 6.064703 
seperate points time 14.382907 
publication time 13.051520 ms 
whole laserOdometry time 13.068295 ms 
 
-----t: 0.0512716
OdomCount 2420 & avg odom time 0.045421 ms ++++++++++++++++++++++
1317358013.360625028 WriteOdom laser_odom_to_init
mapping data assosiation time 30.375421 ms 
--------------------stamp1317358013.464807987
points size 104062 
sort q time 6.083256 
seperate points time 13.313256 
publication time 11.790438 ms 
whole laserOdometry time 11.806790 ms 
 
-----t: 0.0566662
OdomCount 2421 & avg odom time 0.045426 ms ++++++++++++++++++++++
--------------------stamp1317358013.568967103
points size 104010 
sort q time 6.219029 
seperate points time 12.162262 
publication time 9.652171 ms 
whole laserOdometry time 9.664890 ms 
 
-----t: 0.0602989
OdomCount 2422 & avg odom time 0.045432 ms ++++++++++++++++++++++
1317358013.568967103 WriteOdom laser_odom_to_init
1317358013.568967103 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.403214 ms 
whole mapping time 173.411374 ms +++++
mappingCount 1650 & avg mapping time 148.097127 ms ++++++++++++++++++++++
points size 104102 
sort q time 5.970942 
seperate points time 13.699732 
build tree time 43.054034 ms 
mapping data assosiation time 29.179726 ms 
--------------------stamp1317358013.777113914
points size 104194 
sort q time 6.977639 
seperate points time 16.156361 
publication time 9.176101 ms 
whole laserOdometry time 9.190718 ms 
 
mapping solver time 22.492194 ms 
filter time 11.370764 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358013.881130933
points size 104389 
build tree time 43.822548 ms 
mapping data assosiation time 32.060146 ms 
mapping solver time 26.342828 ms 
--------------------stamp1317358013.985096931
points size 104181 
sort q time 6.555817 
seperate points time 12.649811 
mapping solver time 24.115755 ms 
publication time 14.356713 ms 
whole laserOdometry time 14.368928 ms 
 
map prepare time 4.539966 ms
map corner num 167776  surf num 55267 
-----t: 0.0614067
OdomCount 2426 & avg odom time 0.045440 ms ++++++++++++++++++++++
1317358013.985096931 WriteOdom laser_odom_to_init
1317358013.985096931 WriteOdom aft_mapped_to_init_high_frec
build tree time 37.807734 ms 
points size 103935 
sort q time 5.827695 
seperate points time 13.684169 
publication time 15.597962 ms 
whole laserOdometry time 15.609184 ms 
 
1317358014.089015960 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.973838 ms 
add points time 1.320816 ms
sort q time 6.151669 
seperate points time 13.579962 
publication time 8.942085 ms 
whole laserOdometry time 8.979795 ms 
 

1317358014.192910909 WriteOdom aft_mapped_to_init_high_frec
build tree time 44.491393 ms 
--------------------stamp1317358014.296760082
prepare time 12.414868 
sort q time 6.661610 
seperate points time 13.746069 
mapping solver time 30.622416 ms 
-----t: 0.0538988
OdomCount 2429 & avg odom time 0.045446 ms ++++++++++++++++++++++
mapping solver time 18.225832 ms 
--------------------stamp1317358014.400583028
prepare time 12.100424 
build tree time 47.401848 ms 
-----t: 0.0687338
OdomCount 2430 & avg odom time 0.045456 ms ++++++++++++++++++++++
--------------------stamp1317358014.504405975
points size 104066 
sort q time 6.256278 
seperate points time 14.349356 
mapping data assosiation time 30.713799 ms 
publication time 10.685350 ms 
whole laserOdometry time 10.704657 ms 
 
add points time 1.015665 ms
filter time 12.333632 ms 
mapping pub time 2.395512 ms 
whole mapping time 177.702150 ms +++++
mappingCount 1655 & avg mapping time 148.194339 ms ++++++++++++++++++++++
1317358014.192910910 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358014.608228921
points size 103937 
sort q time 6.041660 
seperate points time 13.928071 
publication time 7.598641 ms 
whole laserOdometry time 7.611585 ms 
 
mapping solver time 29.653992 ms 
--------------------stamp1317358014.712050914
points size 103878 
sort q time 6.035791 
seperate points time 13.930911 
scan registration time 36.413189 ms *************
mapping solver time 23.264629 ms 
mapping optimization time 156.611596 
add points time 0.994374 ms
filter time 14.139722 ms 
map prepare time 3.753425 ms
map corner num 170013  surf num 56014 
--------------------stamp1317358014.815850019
points size 103737 
mapping data assosiation time 31.982277 ms 
publication time 9.014978 ms 
whole laserOdometry time 9.029120 ms 
 
mapping solver time 33.347796 ms 
mapping data assosiation time 24.961800 ms 
--------------------stamp1317358014.919600009
points size 103590 
filter time 15.994955 ms 
mapping pub time 2.384438 ms 
whole mapping time 172.771719 ms +++++
mappingCount 1657 & avg mapping time 148.228989 ms ++++++++++++++++++++++
1317358014.608228922 WriteOdom aft_mapped_to_init
sort q time 5.960923 
seperate points time 13.992353 
-----t: 0.0493118
OdomCount 2435 & avg odom time 0.045460 ms ++++++++++++++++++++++
build tree time 38.749800 ms 
mapping data assosiation time 25.636812 ms 
points size 103401 
mapping solver time 26.012611 ms 
publication time 10.765779 ms 
whole laserOdometry time 10.778566 ms 
 
mapping solver time 20.486096 ms 
filter time 12.320093 ms 
--------------------stamp1317358015.127027988
points size 103027 
sort q time 5.856188 
seperate points time 13.467751 
publication time 10.331138 ms 
whole laserOdometry time 10.351390 ms 
 
mapping data assosiation time 32.480774 ms 
-----t: 0.0746714
OdomCount 2437 & avg odom time 0.045482 ms ++++++++++++++++++++++
--------------------stamp1317358015.230707883
points size 102810 
mapping data assosiation time 32.630832 ms 
sort q time 6.956355 
seperate points time 16.883228 
filter time 12.151510 ms 
map prepare time 3.319631 ms
map corner num 171769  surf num 56477 
--------------------stamp1317358015.334362030
prepare time 11.499615 
build tree time 40.550944 ms 
scan registration time 34.540498 ms *************
publication time 11.518992 ms 
whole laserOdometry time 11.531233 ms 
 
mapping solver time 33.088953 ms 
-----t: 0.0838676
OdomCount 2439 & avg odom time 0.045506 ms ++++++++++++++++++++++
points size 102713 
sort q time 5.903214 
seperate points time 14.275434 
mapping solver time 27.717181 ms 
filter time 14.599272 ms 
map prepare time 3.492604 ms
map corner num 172451  surf num 56659 
--------------------stamp1317358015.541697025
points size 102662 
sort q time 7.015142 
seperate points time 16.917128 
publication time 8.772074 ms 
whole laserOdometry time 8.806548 ms 
 
mapping solver time 30.227382 ms 
mapping data assosiation time 22.897779 ms 
--------------------stamp1317358015.645375967
add points time 1.183228 ms
filter time 13.716807 ms 
publication time 7.570796 ms 
whole laserOdometry time 7.585522 ms 
 
-----t: 0.0491025
OdomCount 2442 & avg odom time 0.045505 ms ++++++++++++++++++++++
--------------------stamp1317358015.749077081
points size 102235 
sort q time 6.041023 
seperate points time 14.761564 
publication time 9.482998 ms 
whole laserOdometry time 9.494007 ms 
 
1317358015.749077081 WriteOdom laser_odom_to_init
1317358015.749077081 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.107836 ms 
--------------------stamp1317358015.852828979
prepare time 10.520834 
sort q time 6.355414 
seperate points time 13.787723 
scan registration time 30.138715 ms *************
publication time 8.308377 ms 
whole laserOdometry time 8.320183 ms 
 
mapping solver time 26.747211 ms 
mapping optimization time 152.862094 
add points time 0.918849 ms
mapping pub time 2.286651 ms 
whole mapping time 176.046214 ms +++++
mappingCount 1662 & avg mapping time 148.367892 ms ++++++++++++++++++++++
1317358015.541697025 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.143701 ms
map corner num 173706  surf num 56997 
--------------------stamp1317358015.956579923
prepare time 12.252879 
sort q time 5.628883 
seperate points time 13.733758 
publication time 9.185971 ms 
whole laserOdometry time 9.199815 ms 
 
mapping data assosiation time 29.198580 ms 
-----t: 0.0657636
OdomCount 2445 & avg odom time 0.045520 ms ++++++++++++++++++++++
--------------------stamp1317358016.060305118
prepare time 14.029221 
sort q time 5.694152 
seperate points time 13.792622 
filter time 12.467644 ms 
build tree time 31.732097 ms 
--------------------stamp1317358016.164058923
points size 100177 
prepare time 12.923956 
mapping data assosiation time 27.261052 ms 
sort q time 6.000355 
seperate points time 15.261492 
mapping solver time 30.960174 ms 
mapping data assosiation time 26.561820 ms 
mapping solver time 21.356939 ms 
filter time 11.575243 ms 
sort q time 6.150886 
seperate points time 12.498435 
build tree time 43.848683 ms 
publication time 8.872358 ms 
whole laserOdometry time 8.891413 ms 
 
-----t: 0.0565667
OdomCount 2448 & avg odom time 0.045531 ms ++++++++++++++++++++++
mapping data assosiation time 27.504166 ms 
--------------------stamp1317358016.371654987
points size 97099 
sort q time 5.775858 
seperate points time 12.228086 
scan registration time 28.267428 ms *************
mapping data assosiation time 28.075176 ms 
-----t: 0.0399051
OdomCount 2449 & avg odom time 0.045529 ms ++++++++++++++++++++++
1317358016.371654987 WriteOdom laser_odom_to_init
1317358016.371654987 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317358016.475430965
prepare time 12.888853 
sort q time 5.152364 
seperate points time 12.088434 
-----t: 0.0386145
OdomCount 2450 & avg odom time 0.045526 ms ++++++++++++++++++++++
mapping data assosiation time 23.057085 ms 
mapping solver time 14.884486 ms 
--------------------stamp1317358016.579231023
[0m[ INFO] [1718890099.488519243, 1317358016.590634147]: Received 206978 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890099.488548626, 1317358016.590634147]: Data saved to 1317358016267857.pcd[0m
sort q time 5.649045 
seperate points time 12.233671 
publication time 8.873637 ms 
whole laserOdometry time 8.885065 ms 
 
build tree time 39.949515 ms 
mapping data assosiation time 23.427796 ms 
mapping solver time 22.355605 ms 
prepare time 11.908339 
mapping optimization time 137.989253 
add points time 1.035125 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358016.786946058
prepare time 10.993250 
sort q time 5.386507 
seperate points time 12.590466 
publication time 9.064952 ms 
whole laserOdometry time 9.084114 ms 
 
mapping solver time 23.171895 ms 
mapping data assosiation time 23.427263 ms 
mapping solver time 13.629180 ms 
filter time 11.616942 ms 
points size 90777 
sort q time 5.108164 
seperate points time 12.073326 
publication time 8.352573 ms 
whole laserOdometry time 8.366014 ms 
 
-----t: 0.0411339
OdomCount 2454 & avg odom time 0.045522 ms ++++++++++++++++++++++
mapping data assosiation time 23.379308 ms 
mapping solver time 22.895128 ms 
--------------------stamp1317358016.994683980
mapping data assosiation time 24.646249 ms 
sort q time 5.260703 
seperate points time 11.339727 
scan registration time 22.600992 ms *************
mapping solver time 23.754632 ms 
map prepare time 3.453230 ms
map corner num 232005  surf num 78676 
--------------------stamp1317358017.098602056
prepare time 10.419102 
sort q time 5.344799 
seperate points time 12.758340 
mapping data assosiation time 25.756475 ms 
-----t: 0.0472501
OdomCount 2456 & avg odom time 0.045526 ms ++++++++++++++++++++++
mapping data assosiation time 23.717351 ms 
points size 86475 
sort q time 5.705091 
seperate points time 11.799313 
scan registration time 24.803141 ms *************
filter time 32.180895 ms -----t: 0.0529953
OdomCount 2457 & avg odom time 0.045529 ms ++++++++++++++++++++++
1317358017.202545881 WriteOdom laser_odom_to_init
1317358017.202545881 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358017.306489944
prepare time 10.706626 
sort q time 5.792773 
seperate points time 13.760025 
mapping data assosiation time 28.027698 ms 
publication time 8.702497 ms 
whole laserOdometry time 8.717119 ms 
 
-----t: 0.0547433
OdomCount 2458 & avg odom time 0.045532 ms ++++++++++++++++++++++
mapping data assosiation time 25.246920 ms 
mapping solver time 14.713665 ms 
points size 88481 
filter time 21.988692 ms 
[0m[ INFO] [1718890100.341152292, 1317358017.434381299]: Received 312659 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890100.341194101, 1317358017.434381299]: Data saved to 1317358017098602.pcd[0m
publication time 9.018975 ms 
whole laserOdometry time 9.035257 ms 
 
build tree time 64.510443 ms 
points size 89901 
prepare time 12.279386 
publication time 9.519265 ms 
whole laserOdometry time 9.534267 ms 
 
mapping data assosiation time 23.748609 ms 
mapping solver time 17.691054 ms 
points size 90590 
1317358017.306489944 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 10.812542 ms 
whole laserOdometry time 10.845549 ms 
 
build tree time 60.424647 ms 
--------------------stamp1317358017.722260951
sort q time 5.817668 
seperate points time 12.062178 
publication time 9.579735 ms 
whole laserOdometry time 9.593769 ms 
 
-----t: 0.0483782
OdomCount 2462 & avg odom time 0.045533 ms ++++++++++++++++++++++
mapping solver time 18.397218 ms 
mapping optimization time 161.885173 
add points time 1.072495 ms
filter time 15.247566 ms 
map prepare time 6.102841 ms
map corner num 234894  surf num 79806 
sort q time 8.185549 
seperate points time 16.058337 
publication time 9.946479 ms 
whole laserOdometry time 9.959103 ms 
 
-----t: 0.0533907
OdomCount 2463 & avg odom time 0.045536 ms ++++++++++++++++++++++
mapping data assosiation time 22.199979 ms 
points size 95909 
mapping solver time 25.830716 ms 
mapping data assosiation time 29.965498 ms 
mapping solver time 22.321303 ms 
filter time 20.191118 ms 
points size 96420 
sort q time 6.130366 
seperate points time 13.080744 
publication time 10.369912 ms 
whole laserOdometry time 10.384169 ms 
 
build tree time 63.662536 ms 
mapping data assosiation time 22.408660 ms 
--------------------stamp1317358018.138081073
prepare time 11.264439 
scan registration time 30.107522 ms *************
publication time 11.373107 ms 
whole laserOdometry time 11.407126 ms 
 
mapping solver time 25.011926 ms 
filter time 15.339307 ms 
mapping pub time 2.053582 ms 
whole mapping time 189.456295 ms +++++
mappingCount 1675 & avg mapping time 148.558541 ms ++++++++++++++++++++++
1317358017.826205969 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358018.242048978
sort q time 5.966764 
seperate points time 13.498910 
build tree time 57.402163 ms 
publication time 12.612104 ms 
whole laserOdometry time 12.629298 ms 
 
-----t: 0.0789583
OdomCount 2467 & avg odom time 0.045558 ms ++++++++++++++++++++++
prepare time 10.637566 
sort q time 5.471379 
seperate points time 11.631527 
mapping solver time 21.148215 ms 
filter time 19.240367 ms 
-----t: 0.0597771
OdomCount 2468 & avg odom time 0.045564 ms ++++++++++++++++++++++
--------------------stamp1317358018.450030088
sort q time 5.320280 
seperate points time 10.834449 
build tree time 65.630842 ms 
mapping data assosiation time 27.468864 ms 
-----t: 0.048333
OdomCount 2469 & avg odom time 0.045565 ms ++++++++++++++++++++++
1317358018.450030088 WriteOdom laser_odom_to_init
1317358018.450030088 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.753321 ms 
mapping data assosiation time 23.640006 ms 
prepare time 13.784912 
sort q time 5.478053 
seperate points time 12.972211 
publication time 10.648765 ms 
whole laserOdometry time 10.664905 ms 
 
filter time 23.498638 ms 
--------------------stamp1317358018.657963991
build tree time 52.125213 ms 
sort q time 6.197825 
seperate points time 13.924607 
mapping data assosiation time 28.455026 ms 
-----t: 0.0449369
OdomCount 2471 & avg odom time 0.045564 ms ++++++++++++++++++++++
mapping data assosiation time 20.953606 ms 
--------------------stamp1317358018.761905908
points size 95065 
filter time 18.552054 ms 
sort q time 5.521017 
seperate points time 14.240696 
map prepare time 4.646206 ms
map corner num 238573  surf num 80772 
publication time 12.340445 ms 
whole laserOdometry time 12.420434 ms build tree time 60.210662 ms 
--------------------stamp1317358018.865848064
prepare time 11.393537 
sort q time 6.070112 
seperate points time 12.251223 
publication time 9.426795 ms 
whole laserOdometry time 9.441525 ms 
 
mapping data assosiation time 27.537161 ms 
mapping solver time 21.247894 ms 
--------------------stamp1317358018.969840049
points size 97530 
sort q time 5.891518 
seperate points time 13.494208 
publication time 12.891955 ms 
whole laserOdometry time 12.921863 ms 
 
build tree time 76.843917 ms 
--------------------stamp1317358019.073831081
prepare time 12.161401 
sort q time 6.449455 
seperate points time 14.121305 
publication time 8.932942 ms 
whole laserOdometry time 8.943621 ms 
 
mapping solver time 14.976439 ms 
filter time 14.534694 ms 
--------------------stamp1317358019.177820920
prepare time 12.280347 
sort q time 7.010184 
seperate points time 13.583792 
publication time 9.610255 ms 
whole laserOdometry time 9.623274 ms 
 
mapping data assosiation time 27.046897 ms 
--------------------stamp1317358019.281836032
prepare time 14.636968 
sort q time 6.250467 
seperate points time 14.618759 
publication time 10.867757 ms 
whole laserOdometry time 10.877742 ms 
 
-----t: 0.0475292
OdomCount 2477 & avg odom time 0.045589 ms ++++++++++++++++++++++
filter time 16.723281 ms --------------------stamp1317358019.385848999
prepare time 14.229133 
sort q time 5.846935 
seperate points time 13.859111 
publication time 13.091485 ms 
whole laserOdometry time 13.106281 ms 
 
map prepare time 4.781344 ms
map corner num 240475  surf num 81350 
-----t: 0.0571856
OdomCount 2478 & avg odom time 0.045594 ms ++++++++++++++++++++++
--------------------stamp1317358019.489837884
points size 96274 
sort q time 5.962183 
seperate points time 12.826904 
publication time 12.669305 ms 
whole laserOdometry time 12.683838 ms 
 
1317358019.489837884 WriteOdom laser_odom_to_init
mapping solver time 19.852720 ms 
--------------------stamp1317358019.593828916
mapping solver time 17.135661 ms 
publication time 10.301941 ms 
whole laserOdometry time 10.316654 ms 
 
1317358019.593828916 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358019.697822093
[0m[ INFO] [1718890102.609133378, 1317358019.702461405]: Received 321825 data points in frame camera_init with the following fields: x y z intensity[0m
sort q time 5.782620 
seperate points time 13.344141 
mapping data assosiation time 27.481010 ms 
publication time 9.846425 ms 
whole laserOdometry time 9.861368 ms 
 
mapping data assosiation time 22.105927 ms 
mapping solver time 16.881054 ms 
points size 94856 
mapping pub time 2.380964 ms 
whole mapping time 184.135388 ms +++++
mappingCount 1683 & avg mapping time 148.793966 ms ++++++++++++++++++++++
publication time 11.141425 ms 
whole laserOdometry time 11.163101 ms 
 
-----t: 0.042982
OdomCount 2482 & avg odom time 0.045594 ms ++++++++++++++++++++++
build tree time 59.649913 ms 
--------------------stamp1317358019.905805110
prepare time 10.689110 
sort q time 6.392121 
seperate points time 14.408463 
mapping data assosiation time 25.757030 ms 
-----t: 0.057401
OdomCount 2483 & avg odom time 0.045599 ms ++++++++++++++++++++++
filter time 14.797843 ms 
map prepare time 3.971713 ms
map corner num 242125  surf num 81706 
--------------------stamp1317358020.009793996
prepare time 9.748994 
sort q time 5.991206 
seperate points time 12.808948 
publication time 8.728719 ms 
whole laserOdometry time 8.743846 ms 
 
-----t: 0.0408434
OdomCount 2484 & avg odom time 0.045597 ms ++++++++++++++++++++++
mapping data assosiation time 21.997329 ms 
--------------------stamp1317358020.113782882
sort q time 5.771611 
seperate points time 13.081002 
scan registration time 28.163963 ms *************
mapping solver time 21.197341 ms 
filter time 16.302003 ms 
mapping pub time 2.249360 ms 
whole mapping time 183.459618 ms +++++
mappingCount 1685 & avg mapping time 148.829943 ms ++++++++++++++++++++++
1317358019.801814079 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358020.217775106
points size 95072 
sort q time 6.011189 
seperate points time 12.758770 
build tree time 64.946061 ms 
1317358020.217775106 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.269747 ms 
--------------------stamp1317358020.321767091
points size 95261 
sort q time 5.506083 
seperate points time 13.046349 
publication time 8.695624 ms 
whole laserOdometry time 8.708372 ms 
 
mapping pub time 7.820380 ms 
whole mapping time 195.419345 ms +++++
mappingCount 1686 & avg mapping time 148.857579 ms ++++++++++++++++++++++
--------------------stamp1317358020.425757884
points size 95351 
sort q time 7.412346 
seperate points time 14.110178 
publication time 9.933982 ms 
whole laserOdometry time 9.967092 ms 
 
-----t: 0.0604051
OdomCount 2488 & avg odom time 0.045606 ms ++++++++++++++++++++++
--------------------stamp1317358020.529795885
mapping solver time 19.956114 ms 
publication time 10.074426 ms 
whole laserOdometry time 10.146224 ms 
 
map prepare time 4.030606 ms
map corner num 243349  surf num 81943 
1317358020.217775106 WriteOdom aft_mapped_to_init
--------------------stamp1317358020.633858919
points size 95993 
sort q time 5.798191 
seperate points time 13.914805 
mapping data assosiation time 29.941259 ms 
-----t: 0.0483262
OdomCount 2490 & avg odom time 0.045625 ms ++++++++++++++++++++++
mapping solver time 26.175596 ms 
mapping data assosiation time 22.941579 ms 
points size 96682 
sort q time 5.966131 
seperate points time 12.679775 
filter time 21.864044 ms 
publication time 18.660732 ms 
whole laserOdometry time 18.675207 ms 
 
1317358020.737921953 WriteOdom aft_mapped_to_init_high_frec
build tree time 58.189551 ms 
sort q time 6.246145 
seperate points time 12.583819 
[0m[ INFO] [1718890103.763415427, 1317358020.863339419]: Received 324778 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890103.763477037, 1317358020.863339419]: Data saved to 1317358020009793.pcd[0m
scan registration time 25.000362 ms *************
mapping data assosiation time 26.513923 ms 
publication time 9.681097 ms 
whole laserOdometry time 9.692799 ms 
 
-----t: 0.0595029
OdomCount 2492 & avg odom time 0.045631 ms ++++++++++++++++++++++
mapping solver time 16.010779 ms 
points size 98105 
prepare time 9.192631 
filter time 16.568946 ms 
mapping pub time 2.291930 ms 
whole mapping time 181.597568 ms +++++
mappingCount 1689 & avg mapping time 148.927153 ms ++++++++++++++++++++++
1317358020.633858919 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 9.292439 ms 
whole laserOdometry time 9.307432 ms 
 
-----t: 0.0616932
OdomCount 2493 & avg odom time 0.045638 ms ++++++++++++++++++++++
build tree time 68.564295 ms 
--------------------stamp1317358021.050040006
mapping data assosiation time 25.691878 ms 
sort q time 5.813963 
seperate points time 13.650510 
publication time 10.720752 ms 
whole laserOdometry time 10.733012 ms 
 
mapping data assosiation time 28.579302 ms 
mapping solver time 16.511502 ms 
filter time 15.095815 ms 
points size 99540 
sort q time 5.767130 
seperate points time 13.260132 
publication time 10.239549 ms 
whole laserOdometry time 10.254054 ms 
 
-----t: 0.0522675
OdomCount 2495 & avg odom time 0.045642 ms ++++++++++++++++++++++
mapping data assosiation time 22.347127 ms 
--------------------stamp1317358021.258093118
points size 100414 
sort q time 6.935894 
seperate points time 13.204062 
mapping data assosiation time 28.576282 ms 
mapping solver time 22.794412 ms 
-----t: 0.0509459
OdomCount 2496 & avg odom time 0.045644 ms ++++++++++++++++++++++
filter time 15.613817 ms 
map prepare time 3.700738 ms
map corner num 245221  surf num 82437 
--------------------stamp1317358021.362082958
prepare time 12.934489 
sort q time 6.568322 
seperate points time 19.567903 
publication time 10.149570 ms 
whole laserOdometry time 10.202772 ms 
 
-----t: 0.0584728
OdomCount 2497 & avg odom time 0.045649 ms ++++++++++++++++++++++
mapping data assosiation time 29.546461 ms 
--------------------stamp1317358021.466073989
mapping solver time 21.535381 ms 
points size 101007 
prepare time 14.144457 
sort q time 6.911581 
seperate points time 16.746737 
mapping solver time 18.301974 ms 
-----t: 0.0581721
OdomCount 2498 & avg odom time 0.045654 ms ++++++++++++++++++++++
filter time 21.530894 ms 
--------------------stamp1317358021.570039033
prepare time 11.505385 
sort q time 7.591612 
seperate points time 16.658110 
build tree time 63.224226 ms 
-----t: 0.0478135
OdomCount 2499 & avg odom time 0.045655 ms ++++++++++++++++++++++
mapping data assosiation time 29.226545 ms 
mapping solver time 17.356608 ms 
points size 100718 
prepare time 14.872980 
sort q time 6.762915 
seperate points time 16.456502 
mapping solver time 18.191540 ms 
scan registration time 35.777630 ms *************
build tree time 67.687637 ms 
publication time 11.445383 ms 
whole laserOdometry time 11.480787 ms 
 
mapping data assosiation time 32.202105 ms 
mapping solver time 22.238822 ms 
--------------------stamp1317358021.881827116
prepare time 12.516512 
sort q time 6.318333 
seperate points time 15.001819 
scan registration time 32.784165 ms *************
publication time 12.967289 ms 
whole laserOdometry time 12.995965 ms 
 
map prepare time 4.055289 ms
map corner num 246610  surf num 82785 
--------------------stamp1317358021.985744953
points size 101162 
sort q time 5.915541 
seperate points time 14.683503 
mapping data assosiation time 32.157611 ms 
mapping solver time 20.651958 ms 
--------------------stamp1317358022.089679956
mapping data assosiation time 31.003105 ms 
mapping solver time 20.355431 ms 
filter time 24.980520 ms 
--------------------stamp1317358022.193623065
prepare time 12.837865 
sort q time 6.253590 
seperate points time 15.018302 
publication time 11.275739 ms 
whole laserOdometry time 11.290525 ms 
 
mapping solver time 23.474482 ms 
--------------------stamp1317358022.297564983
prepare time 10.640260 
mapping solver time 17.358169 ms 
scan registration time 41.091410 ms *************
-----t: 0.0455809
OdomCount 2506 & avg odom time 0.045683 ms ++++++++++++++++++++++
map prepare time 4.205659 ms
map corner num 247656  surf num 83241 
--------------------stamp1317358022.401506900
points size 101901 
sort q time 6.899454 
seperate points time 19.196968 
mapping data assosiation time 35.836708 ms 
1317358022.401506900 WriteOdom laser_odom_to_init
1317358022.401506900 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.321188 ms 
--------------------stamp1317358022.505428075
points size 102107 
sort q time 4.980800 
seperate points time 11.734275 
publication time 10.539818 ms 
whole laserOdometry time 10.555469 ms 
 
1317358022.193623066 WriteOdom aft_mapped_to_init
-----t: 0.0666024
OdomCount 2508 & avg odom time 0.045695 ms ++++++++++++++++++++++
--------------------stamp1317358022.609348058
points size 102258 
build tree time 57.221737 ms 
scan registration time 35.379158 ms *************
mapping data assosiation time 36.150499 ms 
-----t: 0.0534722
OdomCount 2509 & avg odom time 0.045698 ms ++++++++++++++++++++++
mapping solver time 23.865956 ms 
--------------------stamp1317358022.713289976
mapping data assosiation time 30.503200 ms 
mapping solver time 19.651918 ms 
filter time 23.897414 ms 
mapping pub time 2.709426 ms 
whole mapping time 202.309168 ms +++++
mappingCount 1698 & avg mapping time 149.188166 ms ++++++++++++++++++++++
1317358022.297564983 WriteOdom aft_mapped_to_init
--------------------stamp1317358022.817234992
prepare time 12.542266 
sort q time 6.433084 
seperate points time 15.415554 
publication time 12.954302 ms 
whole laserOdometry time 12.971318 ms 
 
mapping solver time 25.020119 ms 
--------------------stamp1317358022.921178102
sort q time 6.261459 
seperate points time 13.131295 
scan registration time 29.651460 ms *************
filter time 24.820581 ms 
map prepare time 3.966621 ms
map corner num 249187  surf num 83879 
--------------------stamp1317358023.025144100
prepare time 11.957322 
sort q time 6.818511 
seperate points time 15.508617 
publication time 12.954219 ms 
whole laserOdometry time 12.969829 ms 
 
mapping data assosiation time 36.326752 ms 
-----t: 0.0627337
OdomCount 2513 & avg odom time 0.045710 ms ++++++++++++++++++++++
mapping solver time 24.590720 ms 
--------------------stamp1317358023.129111051
prepare time 12.674500 
sort q time 6.528594 
seperate points time 14.160691 
mapping solver time 22.020255 ms 
filter time 24.184096 ms 
map prepare time 4.231341 ms
map corner num 249619  surf num 84043 
--------------------stamp1317358023.233102083
points size 103167 
sort q time 8.079712 
seperate points time 20.967102 
publication time 10.610038 ms 
whole laserOdometry time 10.633667 ms 
 
-----t: 0.0596081
OdomCount 2515 & avg odom time 0.045720 ms ++++++++++++++++++++++
[0m[ INFO] [1718890106.227339572, 1317358023.322399398]: Received 330897 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890106.227378214, 1317358023.322399398]: Data saved to 1317358021985744.pcd[0m
points size 103054 
sort q time 5.939955 
seperate points time 14.142575 
mapping solver time 21.251617 ms 
-----t: 0.0587776
OdomCount 2516 & avg odom time 0.045725 ms ++++++++++++++++++++++
--------------------stamp1317358023.441059112
prepare time 13.444150 
sort q time 6.695278 
seperate points time 14.308007 
publication time 11.089153 ms 
whole laserOdometry time 11.107381 ms 
 
-----t: 0.058709
OdomCount 2517 & avg odom time 0.045730 ms ++++++++++++++++++++++
1317358023.441059112 WriteOdom laser_odom_to_init
1317358023.441059112 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 101.512432 ms 
whole mapping time 315.409039 ms +++++
mappingCount 1701 & avg mapping time 149.358405 ms ++++++++++++++++++++++
1317358023.025144100 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358023.545047998
points size 102994 
sort q time 6.102055 
seperate points time 14.144411 
scan registration time 34.226905 ms *************
publication time 11.987395 ms 
whole laserOdometry time 12.004292 ms 
 
mapping data assosiation time 33.364720 ms 
--------------------stamp1317358023.649085998
points size 102938 
sort q time 6.033622 
seperate points time 14.112634 
mapping data assosiation time 35.496337 ms 
publication time 12.560969 ms 
whole laserOdometry time 12.578400 ms 
 
mapping solver time 26.724843 ms 
-----t: 0.0682118
OdomCount 2519 & avg odom time 0.045748 ms ++++++++++++++++++++++
filter time 25.086707 ms 
map prepare time 5.895242 ms
map corner num 250665  surf num 84443 
sort q time 6.339816 
seperate points time 14.341433 
publication time 14.089902 ms 
whole laserOdometry time 14.103950 ms 
 
build tree time 72.489551 ms 
--------------------stamp1317358023.857141017
prepare time 11.948721 
sort q time 6.166080 
seperate points time 13.985880 
publication time 8.494437 ms 
whole laserOdometry time 8.517964 ms 
 
mapping data assosiation time 32.323975 ms 
-----t: 0.0554918
OdomCount 2521 & avg odom time 0.045755 ms ++++++++++++++++++++++
1317358023.857141017 WriteOdom laser_odom_to_init
1317358023.857141017 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.715665 ms 
--------------------stamp1317358023.961183071
points size 102514 
sort q time 6.114784 
seperate points time 13.223858 
publication time 8.442820 ms 
whole laserOdometry time 8.459985 ms 
 
-----t: 0.0454364
OdomCount 2522 & avg odom time 0.045754 ms ++++++++++++++++++++++
build tree time 66.058711 ms 
--------------------stamp1317358024.065244913
points size 102377 
mapping solver time 32.734594 ms 
-----t: 0.0420766
OdomCount 2523 & avg odom time 0.045753 ms ++++++++++++++++++++++
1317358024.065244913 WriteOdom laser_odom_to_init
1317358024.065244913 WriteOdom aft_mapped_to_init_high_frec
publication time 8.923948 ms 
whole laserOdometry time 8.934137 ms 
 
mapping solver time 22.648298 ms 
points size 101803 
map prepare time 5.312002 ms
map corner num 251736  surf num 84829 
publication time 10.363931 ms 
whole laserOdometry time 10.377626 ms 
 
-----t: 0.0481689
OdomCount 2524 & avg odom time 0.045754 ms ++++++++++++++++++++++
build tree time 62.334330 ms 
--------------------stamp1317358024.273367881
prepare time 11.627814 
sort q time 5.737123 
seperate points time 12.864186 
mapping solver time 31.451262 ms 
publication time 9.058426 ms 
whole laserOdometry time 9.074298 ms 
 
-----t: 0.0502098
OdomCount 2525 & avg odom time 0.045756 ms ++++++++++++++++++++++
mapping data assosiation time 31.878280 ms 
mapping solver time 20.918415 ms 
--------------------stamp1317358024.377454042
mapping pub time 2.583893 ms 
whole mapping time 205.876727 ms +++++
mappingCount 1705 & avg mapping time 149.513324 ms ++++++++++++++++++++++
prepare time 12.936586 
sort q time 6.884636 
seperate points time 14.408458 
publication time 18.104232 ms 
whole laserOdometry time 18.119493 ms 
 
build tree time 72.228708 ms 
--------------------stamp1317358024.481565952
prepare time 11.111409 
mapping data assosiation time 31.659816 ms 
mapping solver time 28.997077 ms 
publication time 12.827572 ms 
whole laserOdometry time 12.838964 ms 
 
mapping data assosiation time 32.368242 ms 
-----t: 0.0715516
OdomCount 2527 & avg odom time 0.045770 ms ++++++++++++++++++++++
1317358024.481565952 WriteOdom laser_odom_to_init
1317358024.481565952 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.622075 ms 
prepare time 11.229953 
sort q time 5.683554 
seperate points time 13.319176 
scan registration time 42.067805 ms *************
publication time 10.495364 ms 
whole laserOdometry time 10.506210 ms 
 
-----t: 0.0632347
OdomCount 2528 & avg odom time 0.045777 ms ++++++++++++++++++++++
build tree time 64.969724 ms 
points size 97135 
mapping data assosiation time 34.586549 ms 
publication time 9.063250 ms 
whole laserOdometry time 9.077034 ms 
 
-----t: 0.0480894
OdomCount 2529 & avg odom time 0.045778 ms ++++++++++++++++++++++
mapping data assosiation time 27.785074 ms 
--------------------stamp1317358024.793919086
points size 96186 
sort q time 5.490928 
seperate points time 12.908407 
mapping pub time 2.436980 ms 
whole mapping time 214.266710 ms +++++
mappingCount 1707 & avg mapping time 149.592513 ms ++++++++++++++++++++++
publication time 10.094507 ms 
whole laserOdometry time 10.111984 ms 
 
build tree time 55.102098 ms 
points size 96375 
sort q time 5.854046 
seperate points time 11.347096 
publication time 9.797310 ms 
whole laserOdometry time 9.812122 ms 
 
mapping solver time 23.035202 ms 
mapping data assosiation time 27.292874 ms 
mapping solver time 15.147382 ms 
--------------------stamp1317358025.002070903
filter time 17.794757 ms 
map prepare time 4.514169 ms
map corner num 253630  surf num 85433 
scan registration time 29.113593 ms *************
publication time 9.595579 ms 
whole laserOdometry time 9.610036 ms 
 
-----t: 0.0494763
OdomCount 2532 & avg odom time 0.045778 ms ++++++++++++++++++++++
build tree time 67.453073 ms 
--------------------stamp1317358025.106107950
mapping data assosiation time 27.648938 ms 
points size 93658 
prepare time 11.107661 
mapping solver time 23.270778 ms 
mapping data assosiation time 30.567334 ms 
mapping solver time 20.301272 ms 
--------------------stamp1317358025.210123062
points size 93199 
sort q time 5.264826 
seperate points time 16.432527 
publication time 8.811279 ms 
whole laserOdometry time 8.823593 ms 
 
-----t: 0.0486202
OdomCount 2534 & avg odom time 0.045781 ms ++++++++++++++++++++++
build tree time 73.720027 ms 
points size 93036 
sort q time 5.221560 
seperate points time 11.827379 
mapping solver time 25.316538 ms 
mapping data assosiation time 27.022170 ms 
mapping solver time 17.581478 ms 
filter time 16.288609 ms 
points size 92657 
sort q time 6.006116 
seperate points time 13.202191 
publication time 11.051464 ms 
whole laserOdometry time 11.074786 ms 
 
build tree time 62.090192 ms 
-----t: 0.0659902
OdomCount 2536 & avg odom time 0.045785 ms ++++++++++++++++++++++
mapping data assosiation time 28.938442 ms 
points size 92977 
sort q time 5.369525 
seperate points time 12.506596 
scan registration time 24.977343 ms *************
publication time 11.762642 ms 
whole laserOdometry time 11.774184 ms 
 
mapping solver time 18.804288 ms 
filter time 18.075101 ms 
drop lidar frame in mapping for real time performance 
[0m[ INFO] [1718890108.531757191, 1317358025.632035674]: Received 340840 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890108.531806105, 1317358025.632035674]: Data saved to 1317358025210123.pcd[0m
sort q time 5.511359 
seperate points time 12.969699 
publication time 9.271029 ms 
whole laserOdometry time 9.290019 ms 
 
build tree time 62.964316 ms 
mapping data assosiation time 25.357175 ms 
--------------------stamp1317358025.729573965
points size 94208 
sort q time 6.326340 
seperate points time 14.495593 
mapping data assosiation time 31.046366 ms 
-----t: 0.0411886
OdomCount 2539 & avg odom time 0.045784 ms ++++++++++++++++++++++
mapping solver time 23.021070 ms 
filter time 16.187247 ms 
--------------------stamp1317358025.833444118
points size 95987 
sort q time 5.598790 
seperate points time 12.766813 
publication time 8.204428 ms 
whole laserOdometry time 8.221490 ms 
 
build tree time 68.452572 ms -----t: 0.0492253
OdomCount 2540 & avg odom time 0.045786 ms ++++++++++++++++++++++
mapping data assosiation time 30.354614 ms 
--------------------stamp1317358025.937315940
points size 96521 
sort q time 6.359439 
seperate points time 14.796351 
scan registration time 35.281806 ms *************
publication time 11.015668 ms 
whole laserOdometry time 11.030563 ms 
 
mapping solver time 21.529376 ms 
filter time 16.330096 ms 
map prepare time 3.601518 ms
map corner num 255923  surf num 86046 
--------------------stamp1317358026.041208028
points size 96966 
sort q time 5.327893 
seperate points time 12.776153 
scan registration time 27.660000 ms *************
build tree time 68.642481 ms 
-----t: 0.0502783
OdomCount 2542 & avg odom time 0.045787 ms ++++++++++++++++++++++
mapping data assosiation time 26.780181 ms 
mapping solver time 21.540013 ms 
points size 98042 
sort q time 6.113966 
seperate points time 12.549442 
publication time 11.115876 ms 
whole laserOdometry time 11.132449 ms 
 
-----t: 0.0450641
OdomCount 2543 & avg odom time 0.045786 ms ++++++++++++++++++++++
filter time 19.421189 ms 
mapping pub time 2.089836 ms 
whole mapping time 196.595725 ms +++++
mappingCount 1714 & avg mapping time 149.779067 ms ++++++++++++++++++++++
1317358025.833444118 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358026.248975992
prepare time 10.824080 
sort q time 6.106046 
seperate points time 12.939709 
build tree time 60.898512 ms 
publication time 16.715242 ms 
whole laserOdometry time 16.740554 ms 
mapping data assosiation time 29.362808 ms 
-----t: 0.0686339
OdomCount 2544 & avg odom time 0.045795 ms ++++++++++++++++++++++
--------------------stamp1317358026.352847099
mapping data assosiation time 27.159773 ms 
sort q time 5.689941 
seperate points time 12.923163 
add points time 1.749166 ms
-----t: 0.0387968
OdomCount 2545 & avg odom time 0.045793 ms ++++++++++++++++++++++
1317358026.352847099 WriteOdom laser_odom_to_init
1317358026.352847099 WriteOdom aft_mapped_to_init_high_frec
publication time 10.633505 ms 
whole laserOdometry time 10.642735 ms 
 
map prepare time 3.700064 ms
map corner num 256743  surf num 86292 
--------------------stamp1317358026.456718921
prepare time 13.214220 
sort q time 6.691170 
seperate points time 14.001909 
build tree time 65.022741 ms 
scan registration time 32.709406 ms *************
publication time 10.619184 ms 
whole laserOdometry time 10.633147 ms 
 
mapping data assosiation time 29.837175 ms 
-----t: 0.0633579
OdomCount 2546 & avg odom time 0.045800 ms ++++++++++++++++++++++
mapping solver time 22.798719 ms 
--------------------stamp1317358026.560589075
prepare time 11.798280 
mapping solver time 18.608140 ms 
publication time 8.735024 ms 
whole laserOdometry time 8.751060 ms 
 
mapping pub time 6.778370 ms 
whole mapping time 198.848808 ms +++++
mappingCount 1716 & avg mapping time 149.834134 ms ++++++++++++++++++++++
-----t: 0.0498584
OdomCount 2547 & avg odom time 0.045801 ms ++++++++++++++++++++++
--------------------stamp1317358026.664483070
prepare time 13.010926 
sort q time 6.054359 
seperate points time 12.901647 
publication time 8.866826 ms 
whole laserOdometry time 8.895266 ms 
 
build tree time 92.228567 ms 
mapping data assosiation time 27.214692 ms 
mapping solver time 17.005670 ms 
points size 103020 
prepare time 11.386619 
mapping solver time 15.758169 ms 
publication time 10.268140 ms 
whole laserOdometry time 10.285227 ms 
 
1317358026.768377065 WriteOdom laser_odom_to_init
map prepare time 5.562675 ms
map corner num 331177  surf num 114235 
--------------------stamp1317358026.872247934
prepare time 11.853852 
sort q time 6.518495 
seperate points time 12.338048 
publication time 8.068740 ms 
whole laserOdometry time 8.082378 ms 
 
-----t: 0.045225
OdomCount 2550 & avg odom time 0.045807 ms ++++++++++++++++++++++
1317358026.872247934 WriteOdom laser_odom_to_init
1317358026.872247934 WriteOdom aft_mapped_to_init_high_frec
build tree time 87.726294 ms 
mapping data assosiation time 25.007039 ms 
--------------------stamp1317358026.976119995
prepare time 11.423067 
sort q time 5.927607 
seperate points time 13.031920 
publication time 9.256206 ms 
whole laserOdometry time 9.271042 ms 
 
-----t: 0.0478759
OdomCount 2551 & avg odom time 0.045808 ms ++++++++++++++++++++++
filter time 23.430521 ms 
map prepare time 4.077830 ms
map corner num 299662  surf num 109980 
--------------------stamp1317358027.079989910
points size 102874 
sort q time 5.642692 
seperate points time 13.259216 
publication time 10.804192 ms 
whole laserOdometry time 10.821303 ms 
 
build tree time 79.253706 ms 
mapping data assosiation time 23.432773 ms 
points size 102919 
sort q time 6.144238 
seperate points time 13.505995 
mapping data assosiation time 29.353572 ms 
mapping solver time 21.260404 ms 
filter time 20.596629 ms 
map prepare time 4.227284 ms
map corner num 300224  surf num 110188 
--------------------stamp1317358027.287658929
points size 102811 
sort q time 5.439331 
seperate points time 13.621969 
publication time 11.653447 ms -----t: 0.0486246
OdomCount 2554 & avg odom time 0.045807 ms ++++++++++++++++++++++
1317358027.287658929 WriteOdom laser_odom_to_init
1317358027.287658929 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358027.391482114
prepare time 12.191009 
mapping solver time 26.537446 ms 
mapping data assosiation time 32.448154 ms 
mapping solver time 21.637678 ms 
-----t: 0.0604075
OdomCount 2555 & avg odom time 0.045813 ms ++++++++++++++++++++++
filter time 20.347040 ms 
points size 102614 
sort q time 6.167867 
seperate points time 14.590719 
-----t: 0.0388081
OdomCount 2556 & avg odom time 0.045810 ms ++++++++++++++++++++++
1317358027.495304107 WriteOdom laser_odom_to_init
1317358027.495304107 WriteOdom aft_mapped_to_init_high_frec
build tree time 76.088475 ms 
--------------------stamp1317358027.599126100
points size 102877 
sort q time 5.983309 
seperate points time 13.599542 
publication time 9.008897 ms 
whole laserOdometry time 9.021681 ms 
 
mapping data assosiation time 26.642698 ms 
mapping solver time 18.766152 ms 
--------------------stamp1317358027.702949047
points size 102854 
sort q time 6.856015 
seperate points time 16.720741 
publication time 8.911024 ms 
whole laserOdometry time 8.925455 ms 
 
-----t: 0.0599959
OdomCount 2558 & avg odom time 0.045825 ms ++++++++++++++++++++++
--------------------stamp1317358027.806771993
prepare time 12.317790 
sort q time 5.406680 
seperate points time 12.220730 
publication time 9.051070 ms 
whole laserOdometry time 9.065050 ms 
 
-----t: 0.0502545
OdomCount 2559 & avg odom time 0.045826 ms ++++++++++++++++++++++
build tree time 79.682747 ms 
--------------------stamp1317358027.910621881
points size 102984 
sort q time 5.885559 
seperate points time 14.045169 
mapping solver time 27.879133 ms 
mapping data assosiation time 28.725143 ms 
mapping solver time 19.198099 ms 
[0m[ INFO] [1718890110.919979230, 1317358028.015051600]: Received 411880 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890110.920010039, 1317358028.015051600]: Data saved to 1317358027287658.pcd[0m
sort q time 7.800765 
seperate points time 17.923882 
publication time 9.487860 ms 
whole laserOdometry time 9.499948 ms 
 
-----t: 0.0547305
OdomCount 2561 & avg odom time 0.045836 ms ++++++++++++++++++++++
1317358028.014492988 WriteOdom laser_odom_to_init
1317358028.014492988 WriteOdom aft_mapped_to_init_high_frec
build tree time 76.454380 ms 
points size 103445 
mapping data assosiation time 29.899699 ms 
publication time 10.696109 ms 
whole laserOdometry time 10.713885 ms 
 
-----t: 0.0563485
OdomCount 2562 & avg odom time 0.045840 ms ++++++++++++++++++++++
mapping solver time 12.931173 ms 
points size 103434 
map prepare time 4.956463 ms
map corner num 302346  surf num 110826 
scan registration time 45.227661 ms *************
publication time 7.435678 ms 
whole laserOdometry time 7.446988 ms 
 
-----t: 0.0714812
OdomCount 2563 & avg odom time 0.045850 ms ++++++++++++++++++++++
1317358028.222305059 WriteOdom laser_odom_to_init
1317358028.222305059 WriteOdom aft_mapped_to_init_high_frec
build tree time 77.884927 ms 
prepare time 11.766506 
sort q time 5.841300 
seperate points time 12.978677 
publication time 11.257384 ms 
whole laserOdometry time 11.273972 ms 
 
mapping solver time 23.467559 ms 
-----t: 0.0581634
OdomCount 2564 & avg odom time 0.045855 ms ++++++++++++++++++++++
mapping solver time 17.367110 ms 
--------------------stamp1317358028.430188894
prepare time 13.713965 
map prepare time 4.706563 ms
map corner num 302858  surf num 111011 
publication time 10.480138 ms 
whole laserOdometry time 10.493721 ms 
 
build tree time 76.397878 ms 
prepare time 11.549936 
sort q time 6.575174 
seperate points time 14.146142 
publication time 9.779278 ms 
whole laserOdometry time 9.808076 ms 
 
-----t: 0.0623666
OdomCount 2566 & avg odom time 0.045862 ms ++++++++++++++++++++++
1317358028.534131050 WriteOdom laser_odom_to_init
1317358028.534131050 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.804206 ms 
mapping solver time 18.597102 ms 
points size 102802 
filter time 22.720676 ms 
publication time 10.537868 ms 
whole laserOdometry time 10.557109 ms 
 
-----t: 0.0454158
OdomCount 2567 & avg odom time 0.045862 ms ++++++++++++++++++++++
--------------------stamp1317358028.742016077
prepare time 12.728868 
sort q time 5.522354 
seperate points time 12.821263 
publication time 10.247227 ms -----t: 0.0507801
OdomCount 2568 & avg odom time 0.045864 ms ++++++++++++++++++++++
1317358028.742016077 WriteOdom laser_odom_to_init
1317358028.742016077 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.630071 ms 
mapping solver time 13.094276 ms 
points size 103238 
filter time 27.366645 ms 
mapping pub time 13.862934 ms 
whole mapping time 213.263697 ms +++++
mappingCount 1726 & avg mapping time 150.260810 ms ++++++++++++++++++++++
-----t: 0.0459562
OdomCount 2569 & avg odom time 0.045864 ms ++++++++++++++++++++++
--------------------stamp1317358028.949904918
prepare time 12.280621 
sort q time 5.869949 
seperate points time 13.795680 
mapping data assosiation time 32.068288 ms 
publication time 8.306842 ms 
whole laserOdometry time 8.320238 ms 
 
mapping solver time 21.216472 ms 
mapping data assosiation time 25.149976 ms 
mapping solver time 13.288097 ms 
sort q time 5.912458 
seperate points time 13.558764 
scan registration time 31.018850 ms *************
-----t: 0.046683
OdomCount 2571 & avg odom time 0.045868 ms ++++++++++++++++++++++
--------------------stamp1317358029.157886028
points size 103586 
build tree time 76.228968 ms 
mapping data assosiation time 33.042134 ms 
-----t: 0.0545972
OdomCount 2572 & avg odom time 0.045872 ms ++++++++++++++++++++++
mapping data assosiation time 23.310767 ms 
points size 103638 
scan registration time 37.775901 ms *************
filter time 26.972148 ms 
map prepare time 6.625840 ms
map corner num 304789  surf num 111617 
-----t: 0.0486358
OdomCount 2573 & avg odom time 0.045873 ms ++++++++++++++++++++++
--------------------stamp1317358029.365866899
points size 103725 
build tree time 77.003546 ms 
publication time 10.137854 ms 
whole laserOdometry time 10.151788 ms 
 
mapping solver time 22.979760 ms 
-----t: 0.0738942
OdomCount 2574 & avg odom time 0.045884 ms ++++++++++++++++++++++
mapping data assosiation time 27.269891 ms 
prepare time 11.591936 
mapping solver time 24.279769 ms 
mapping optimization time 182.943771 
add points time 1.156002 ms
filter time 26.964749 ms 
mapping pub time 2.484907 ms 
whole mapping time 220.290958 ms +++++
mappingCount 1729 & avg mapping time 150.367460 ms ++++++++++++++++++++++
1317358029.053894997 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 8.910684 ms 
whole laserOdometry time 8.925989 ms 
 
map prepare time 5.229225 ms
map corner num 305235  surf num 111779 
-----t: 0.0580028
OdomCount 2575 & avg odom time 0.045888 ms ++++++++++++++++++++++
--------------------stamp1317358029.573847055
prepare time 11.219360 
sort q time 6.149194 
seperate points time 14.048737 
build tree time 82.275758 ms 
-----t: 0.0451094
OdomCount 2576 & avg odom time 0.045888 ms ++++++++++++++++++++++
mapping data assosiation time 28.325627 ms 
mapping solver time 22.341147 ms 
--------------------stamp1317358029.677814960
points size 104001 
mapping data assosiation time 28.667551 ms 
scan registration time 31.410320 ms *************
mapping solver time 23.795247 ms 
publication time 11.104712 ms 
whole laserOdometry time 11.122443 ms 
 
filter time 27.782207 ms 
map prepare time 4.225848 ms
map corner num 305627  surf num 111916 
--------------------stamp1317358029.781783103
points size 104052 
sort q time 7.012109 
seperate points time 13.708238 
publication time 7.857114 ms 
whole laserOdometry time 7.873444 ms 
 
-----t: 0.0657404
OdomCount 2578 & avg odom time 0.045904 ms ++++++++++++++++++++++
1317358029.781783103 WriteOdom laser_odom_to_init
1317358029.781783103 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.734137 ms 
--------------------stamp1317358029.885725021
mapping solver time 26.369874 ms 
sort q time 6.097354 
seperate points time 14.442808 
publication time 10.032181 ms mapping solver time 29.998174 ms 
mapping optimization time 198.681825 
add points time 1.093404 ms
--------------------stamp1317358029.989665985
points size 104204 
mapping pub time 24.782155 ms 
whole mapping time 257.679262 ms +++++
mappingCount 1731 & avg mapping time 150.471794 ms ++++++++++++++++++++++
1317358029.469856977 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
sort q time 5.855025 
seperate points time 13.861966 
map prepare time 5.340599 ms
map corner num 306056  surf num 112072 
scan registration time 33.236894 ms *************
publication time 8.959058 ms 
whole laserOdometry time 8.972816 ms 
 
-----t: 0.0451252
OdomCount 2580 & avg odom time 0.045915 ms ++++++++++++++++++++++
1317358029.989665985 WriteOdom laser_odom_to_init
1317358029.989665985 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358030.093631982
points size 104231 
sort q time 6.048177 
seperate points time 14.593283 
scan registration time 33.691162 ms *************
mapping data assosiation time 31.229528 ms 
-----t: 0.0492164
OdomCount 2581 & avg odom time 0.045917 ms ++++++++++++++++++++++
mapping solver time 26.711298 ms 
--------------------stamp1317358030.197576045
points size 104305 
mapping solver time 24.229896 ms 
sort q time 6.226417 
seperate points time 15.026808 
filter time 26.153583 ms 
map prepare time 6.049087 ms
map corner num 306552  surf num 112288 
-----t: 0.0572554
OdomCount 2582 & avg odom time 0.045921 ms ++++++++++++++++++++++
1317358030.197576045 WriteOdom laser_odom_to_init
1317358030.197576045 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358030.301496028
prepare time 13.806818 
sort q time 6.052865 
seperate points time 19.882989 
-----t: 0.0465564
OdomCount 2583 & avg odom time 0.045921 ms ++++++++++++++++++++++
mapping solver time 23.817584 ms 
--------------------stamp1317358030.405438899
prepare time 11.697480 
sort q time 6.099176 
seperate points time 13.151090 
publication time 17.047800 ms 
whole laserOdometry time 17.063109 ms 
 
mapping pub time 2.388092 ms 
whole mapping time 226.011192 ms +++++
mappingCount 1733 & avg mapping time 150.565943 ms ++++++++++++++++++++++
--------------------stamp1317358030.509385108
points size 104452 
sort q time 6.212885 
seperate points time 14.030709 
build tree time 79.509368 ms 
mapping data assosiation time 25.359289 ms 
--------------------stamp1317358030.613327980
sort q time 6.125615 
seperate points time 13.242974 
mapping data assosiation time 29.817632 ms 
mapping solver time 19.511323 ms 
filter time 20.713704 ms 
--------------------stamp1317358030.717266082
prepare time 11.991189 
--------------------stamp1317358030.821208000
prepare time 11.310964 
sort q time 6.192699 
seperate points time 12.269006 
mapping data assosiation time 29.829657 ms 
publication time 11.309472 ms 
whole laserOdometry time 11.325908 ms 
 
-----t: 0.0592369
OdomCount 2588 & avg odom time 0.045936 ms ++++++++++++++++++++++
filter time 19.660814 ms 
map prepare time 4.909895 ms
map corner num 308173  surf num 112847 
points size 104408 
prepare time 12.011485 
scan registration time 31.270660 ms *************
publication time 10.786665 ms 
whole laserOdometry time 10.801754 ms 
 
build tree time 83.396937 ms 
mapping data assosiation time 26.196780 ms 
points size 104456 
prepare time 12.990780 
scan registration time 31.977928 ms *************
publication time 9.426610 ms 
whole laserOdometry time 9.439409 ms 
 
-----t: 0.0518502
OdomCount 2590 & avg odom time 0.045938 ms ++++++++++++++++++++++
mapping solver time 19.671044 ms 
filter time 19.099560 ms 
drop lidar frame in mapping for real time performance 
sort q time 7.279824 
seperate points time 13.481823 
publication time 9.143415 ms 
whole laserOdometry time 9.162633 ms 
 
-----t: 0.0539267
OdomCount 2591 & avg odom time 0.045941 ms ++++++++++++++++++++++
1317358031.133112907 WriteOdom laser_odom_to_init
1317358031.133112907 WriteOdom aft_mapped_to_init_high_frec
build tree time 83.767887 ms 
points size 104147 
mapping data assosiation time 31.406114 ms 
scan registration time 33.524832 ms *************
publication time 9.558700 ms 
whole laserOdometry time 9.572695 ms 
 
mapping data assosiation time 26.073437 ms 
--------------------stamp1317358031.341027021
prepare time 11.846656 
sort q time 6.258388 
seperate points time 18.715040 
map prepare time 5.842617 ms
map corner num 309314  surf num 113333 
publication time 10.071353 ms 
-----t: 0.0449467
whole laserOdometry time 10.088905 ms 
 
OdomCount 2593 & avg odom time 0.045941 ms ++++++++++++++++++++++
--------------------stamp1317358031.444938898
points size 103948 
sort q time 7.249880 
seperate points time 16.005449 
mapping data assosiation time 44.037973 ms 
-----t: 0.0671261
OdomCount 2594 & avg odom time 0.045949 ms ++++++++++++++++++++++
mapping solver time 32.143480 ms 
--------------------stamp1317358031.548857927
prepare time 11.516873 
sort q time 6.434865 
seperate points time 14.091490 
publication time 9.098530 ms 
whole laserOdometry time 9.110980 ms 
 
-----t: 0.0494861
OdomCount 2595 & avg odom time 0.045950 ms ++++++++++++++++++++++
1317358031.548857927 WriteOdom laser_odom_to_init
1317358031.548857927 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358031.652776002
points size 103960 
sort q time 5.764955 
seperate points time 12.726315 
publication time 8.912698 ms 
whole laserOdometry time 8.930960 ms 
 
-----t: 0.0439055
OdomCount 2596 & avg odom time 0.045949 ms ++++++++++++++++++++++
mapping data assosiation time 27.541638 ms 
--------------------stamp1317358031.756692886
points size 104095 
sort q time 5.960149 
seperate points time 13.519624 
publication time 12.556571 ms 
whole laserOdometry time 12.570183 ms 
 
-----t: 0.051008
OdomCount 2597 & avg odom time 0.045951 ms ++++++++++++++++++++++
mapping solver time 26.779406 ms 
--------------------stamp1317358031.860615015
points size 104138 
sort q time 6.242230 
seperate points time 14.298750 
publication time 10.873018 ms 
whole laserOdometry time 10.886389 ms 
 
-----t: 0.0652479
OdomCount 2598 & avg odom time 0.045959 ms ++++++++++++++++++++++
build tree time 80.857210 ms 
points size 104026 
sort q time 5.946623 
seperate points time 13.361554 
publication time 9.881798 ms 
whole laserOdometry time 9.894397 ms 
 
-----t: 0.0518691
OdomCount 2599 & avg odom time 0.045961 ms ++++++++++++++++++++++
mapping data assosiation time 30.147035 ms 
--------------------stamp1317358032.068451881
points size 104003 
sort q time 6.077967 
seperate points time 14.141233 
filter time 28.548048 ms 
publication time 18.043516 ms 
whole laserOdometry time 18.057908 ms 
 
[0m[ INFO] [1718890115.059272313, 1317358032.152981283]: Received 421878 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890115.059302362, 1317358032.152981283]: Data saved to 1317358030717266.pcd[0m
--------------------stamp1317358032.172394037
points size 104039 
sort q time 6.739974 
seperate points time 16.117156 
-----t: 0.0460424
OdomCount 2601 & avg odom time 0.045963 ms ++++++++++++++++++++++
1317358032.172394037 WriteOdom laser_odom_to_init
1317358032.172394037 WriteOdom aft_mapped_to_init_high_frec
publication time 11.824947 ms 
whole laserOdometry time 11.838923 ms 
 
mapping data assosiation time 35.826307 ms 
mapping solver time 28.479005 ms 
points size 103974 
sort q time 5.742033 
seperate points time 13.323354 
mapping data assosiation time 34.890001 ms 
mapping solver time 28.934819 ms 
filter time 26.596486 ms 
--------------------stamp1317358032.380326986
prepare time 11.158623 
sort q time 6.056018 
seperate points time 13.983903 
publication time 16.379241 ms 
whole laserOdometry time 16.390820 ms 
 
-----t: 0.0615249
OdomCount 2603 & avg odom time 0.045980 ms ++++++++++++++++++++++
mapping pub time 106.896765 ms 
whole mapping time 351.033640 ms +++++
mappingCount 1741 & avg mapping time 151.001119 ms ++++++++++++++++++++++
--------------------stamp1317358032.484268903
prepare time 11.771338 
sort q time 6.247759 
seperate points time 14.571434 
publication time 11.077623 ms 
whole laserOdometry time 11.090283 ms 
 
-----t: 0.0501601
OdomCount 2604 & avg odom time 0.045981 ms ++++++++++++++++++++++
build tree time 88.838306 ms 
--------------------stamp1317358032.588212966
points size 104036 
sort q time 6.793546 
seperate points time 13.739411 
mapping solver time 31.074781 ms 
-----t: 0.046395
OdomCount 2605 & avg odom time 0.045981 ms ++++++++++++++++++++++
mapping data assosiation time 32.800566 ms 
mapping solver time 22.622098 ms 
points size 103968 
filter time 28.555864 ms 
mapping pub time 2.476758 ms 
whole mapping time 247.533456 ms +++++
mappingCount 1742 & avg mapping time 151.056536 ms ++++++++++++++++++++++
sort q time 7.184001 
seperate points time 14.582705 
1317358032.068451881 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
scan registration time 33.144586 ms *************
-----t: 0.0551316
OdomCount 2606 & avg odom time 0.045985 ms ++++++++++++++++++++++
1317358032.692181110 WriteOdom laser_odom_to_init
1317358032.692181110 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358032.796147108
points size 103850 
sort q time 5.880781 
seperate points time 13.112481 
mapping data assosiation time 36.060992 ms 
-----t: 0.0554851
OdomCount 2607 & avg odom time 0.045989 ms ++++++++++++++++++++++
--------------------stamp1317358032.900114059
points size 103797 
sort q time 5.511794 
seperate points time 11.890443 
mapping solver time 23.916849 ms 
mapping optimization time 199.593500 
scan registration time 28.376468 ms *************
add points time 1.606038 ms
publication time 10.983329 ms 
whole laserOdometry time 10.998626 ms 
 
mapping pub time 2.438934 ms 
whole mapping time 237.259628 ms +++++
mappingCount 1743 & avg mapping time 151.105995 ms ++++++++++++++++++++++
-----t: 0.0594834
OdomCount 2608 & avg odom time 0.045994 ms ++++++++++++++++++++++
--------------------stamp1317358033.004080057
points size 103622 
sort q time 5.936379 
seperate points time 13.062384 
scan registration time 29.550357 ms *************
publication time 11.950308 ms 
whole laserOdometry time 11.960889 ms 
 
-----t: 0.0624112
OdomCount 2609 & avg odom time 0.046000 ms ++++++++++++++++++++++
1317358033.004080057 WriteOdom laser_odom_to_init
1317358033.004080057 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.732467 ms 
--------------------stamp1317358033.108046054
sort q time 5.992002 
seperate points time 11.823976 
mapping data assosiation time 32.082146 ms 
-----t: 0.0471249
OdomCount 2610 & avg odom time 0.046000 ms ++++++++++++++++++++++
filter time 20.893503 ms 
map prepare time 4.520718 ms
map corner num 313486  surf num 115038 
points size 103236 
sort q time 6.101218 
seperate points time 14.017038 
publication time 9.702446 ms 
whole laserOdometry time 9.717810 ms 
 
build tree time 89.166358 ms 
--------------------stamp1317358033.315983057
prepare time 12.185954 
sort q time 6.519301 
seperate points time 13.859539 
publication time 10.337975 ms 
whole laserOdometry time 10.349611 ms 
 
-----t: 0.052485
OdomCount 2612 & avg odom time 0.046003 ms ++++++++++++++++++++++
1317358033.315983057 WriteOdom laser_odom_to_init
1317358033.315983057 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358033.419972896
prepare time 11.898099 
sort q time 6.257695 
seperate points time 13.842104 
map prepare time 5.584515 ms
map corner num 314124  surf num 115292 
publication time 10.566871 ms 
whole laserOdometry time 10.584916 ms 
 
-----t: 0.0500239
OdomCount 2613 & avg odom time 0.046005 ms ++++++++++++++++++++++
points size 101689 
sort q time 6.207596 
seperate points time 13.857511 
publication time 9.333886 ms 
whole laserOdometry time 9.346942 ms 
 
mapping data assosiation time 40.141044 ms 
mapping solver time 26.249416 ms 
--------------------stamp1317358033.627926111
mapping data assosiation time 30.445308 ms 
sort q time 5.136677 
seperate points time 11.665936 
mapping solver time 23.455213 ms 
publication time 8.341432 ms 
whole laserOdometry time 8.354972 ms 
 
filter time 25.008162 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358033.731918096
prepare time 11.875328 
scan registration time 34.400349 ms *************
build tree time 81.432854 ms 
mapping data assosiation time 30.053004 ms 
--------------------stamp1317358033.835933923
points size 95455 
prepare time 12.866714 
mapping solver time 36.855532 ms 
scan registration time 32.646496 ms *************
mapping data assosiation time 34.992326 ms 
mapping solver time 32.458859 ms 
--------------------stamp1317358033.939949035
prepare time 12.076045 
map prepare time 4.924758 ms
map corner num 315372  surf num 115733 
publication time 9.927719 ms 
whole laserOdometry time 9.942766 ms 
 
-----t: 0.056795
OdomCount 2618 & avg odom time 0.046032 ms ++++++++++++++++++++++
build tree time 86.925500 ms 
sort q time 6.135007 
seperate points time 14.068801 
mapping data assosiation time 37.382405 ms 
-----t: 0.0417386
OdomCount 2619 & avg odom time 0.046030 ms ++++++++++++++++++++++
mapping solver time 31.287283 ms 
--------------------stamp1317358034.148072004
prepare time 10.886984 
sort q time 4.786037 
seperate points time 11.487810 
mapping optimization time 217.997168 
-----t: 0.0399947
OdomCount 2620 & avg odom time 0.046028 ms ++++++++++++++++++++++
map prepare time 4.922935 ms
map corner num 316089  surf num 116016 
--------------------stamp1317358034.252182960
sort q time 4.894819 
seperate points time 11.408414 
scan registration time 25.027170 ms *************
publication time 7.456266 ms 
whole laserOdometry time 7.468686 ms 
 
-----t: 0.0429885
OdomCount 2621 & avg odom time 0.046027 ms ++++++++++++++++++++++
mapping data assosiation time 28.837704 ms 
--------------------stamp1317358034.356295108
sort q time 4.903609 
seperate points time 9.706619 
scan registration time 19.837240 ms *************
publication time 12.258517 ms 
whole laserOdometry time 12.269995 ms 
 
-----t: 0.0385069
OdomCount 2622 & avg odom time 0.046024 ms ++++++++++++++++++++++
filter time 24.371654 ms 
map prepare time 4.162772 ms
map corner num 316751  surf num 116209 
points size 81956 
sort q time 4.735533 
seperate points time 9.642232 
publication time 7.900422 ms 
whole laserOdometry time 7.918784 ms 
 
-----t: 0.0362986
OdomCount 2623 & avg odom time 0.046020 ms ++++++++++++++++++++++
build tree time 85.105770 ms 
mapping data assosiation time 26.557398 ms 
points size 79925 
prepare time 12.575869 
sort q time 4.434530 
seperate points time 10.091902 
scan registration time 25.651858 ms *************
publication time 7.311979 ms 
whole laserOdometry time 7.318636 ms 
 
-----t: 0.0519213
OdomCount 2624 & avg odom time 0.046023 ms ++++++++++++++++++++++
mapping solver time 22.751840 ms 
points size 80145 
sort q time 4.132288 
seperate points time 9.198616 
map prepare time 5.671813 ms
map corner num 317461  surf num 116356 
-----t: 0.0375171
OdomCount 2625 & avg odom time 0.046019 ms ++++++++++++++++++++++
--------------------stamp1317358034.772785902
sort q time 4.139172 
seperate points time 8.692585 
mapping data assosiation time 30.146696 ms 
-----t: 0.0334925
OdomCount 2626 & avg odom time 0.046015 ms ++++++++++++++++++++++
mapping solver time 29.101734 ms 
mapping data assosiation time 25.621083 ms 
--------------------stamp1317358034.876897096
prepare time 8.642001 
add points time 1.499711 ms
filter time 27.287898 ms 
1317358034.460406065 WriteOdom aft_mapped_to_init
-----t: 0.041754
OdomCount 2627 & avg odom time 0.046013 ms ++++++++++++++++++++++
1317358034.876897096 WriteOdom laser_odom_to_init
1317358034.876897096 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358034.980982065
points size 85223 
sort q time 4.823483 
seperate points time 11.438120 
[0m[ INFO] [1718890117.929452539, 1317358035.032095620]: Received 434593 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890117.929546100, 1317358035.032095620]: Data saved to 1317358034460406.pcd[0m
mapping data assosiation time 30.065456 ms 
mapping solver time 26.093832 ms 
--------------------stamp1317358035.084997892
points size 86946 
mapping data assosiation time 27.594222 ms 
sort q time 4.644227 
seperate points time 11.012817 
mapping solver time 27.280397 ms 
-----t: 0.0390083
OdomCount 2629 & avg odom time 0.046011 ms ++++++++++++++++++++++
filter time 22.898675 ms 
map prepare time 4.080241 ms
map corner num 318852  surf num 116614 
--------------------stamp1317358035.188941001
points size 87454 
sort q time 4.890591 
seperate points time 11.446668 
publication time 9.254997 ms 
whole laserOdometry time 9.269865 ms 
 
mapping data assosiation time 28.148168 ms 
--------------------stamp1317358035.292834997
sort q time 4.745359 
seperate points time 9.820218 
publication time 8.950151 ms 
whole laserOdometry time 8.962768 ms 
 
mapping solver time 28.820217 ms 
mapping optimization time 198.836392 
add points time 1.150896 ms
filter time 19.683686 ms 
map prepare time 4.053140 ms
map corner num 319583  surf num 116766 
--------------------stamp1317358035.396657943
points size 90979 
sort q time 5.123403 
seperate points time 12.043979 
publication time 10.135016 ms 
whole laserOdometry time 10.165554 ms 
 
build tree time 86.839758 ms 
mapping data assosiation time 26.309178 ms 
prepare time 8.797250 
mapping solver time 27.073297 ms 
publication time 8.780712 ms 
whole laserOdometry time 8.796003 ms 
 
mapping solver time 21.087363 ms 
mapping optimization time 191.375671 
add points time 1.165574 ms
filter time 21.473749 ms 
points size 95395 
prepare time 11.658179 
publication time 7.325364 ms 
whole laserOdometry time 7.342897 ms 
 
-----t: 0.0395261
OdomCount 2634 & avg odom time 0.046008 ms ++++++++++++++++++++++
build tree time 85.775184 ms 
--------------------stamp1317358035.707860946
prepare time 11.162477 
sort q time 5.757456 
seperate points time 12.951242 
publication time 7.645752 ms 
whole laserOdometry time 7.656668 ms 
 
-----t: 0.0366868
OdomCount 2635 & avg odom time 0.046004 ms ++++++++++++++++++++++
mapping data assosiation time 25.080829 ms 
mapping solver time 18.841292 ms 
--------------------stamp1317358035.811567068
prepare time 10.850682 
sort q time 5.933649 
seperate points time 12.185321 
scan registration time 28.361365 ms *************
publication time 8.189384 ms 
whole laserOdometry time 8.203040 ms 
 
--------------------stamp1317358035.915245056
sort q time 5.990821 
seperate points time 12.172108 
publication time 7.715607 ms 
whole laserOdometry time 7.729689 ms 
 
mapping solver time 27.412623 ms 
mapping data assosiation time 25.749100 ms 
--------------------stamp1317358036.018945932
points size 95782 
sort q time 5.360095 
seperate points time 11.100700 
1317358035.604134083 WriteOdom aft_mapped_to_init
publication time 8.913516 ms 
whole laserOdometry time 8.925798 ms 
 
-----t: 0.0495808
OdomCount 2638 & avg odom time 0.046000 ms ++++++++++++++++++++++
--------------------stamp1317358036.122672080
prepare time 11.163304 
sort q time 6.630823 
seperate points time 12.450343 
mapping data assosiation time 26.404822 ms 
-----t: 0.061023
OdomCount 2639 & avg odom time 0.046005 ms ++++++++++++++++++++++
--------------------stamp1317358036.226422071
mapping data assosiation time 20.984957 ms 
prepare time 11.600334 
sort q time 5.624238 
seperate points time 13.705295 
filter time 23.286629 ms 
map prepare time 7.065390 ms
map corner num 349253  surf num 131059 
--------------------stamp1317358036.330199003
points size 96611 
sort q time 5.502131 
seperate points time 12.924342 
publication time 7.738169 ms 
whole laserOdometry time 7.752503 ms 
 
-----t: 0.0446275
OdomCount 2641 & avg odom time 0.046006 ms ++++++++++++++++++++++
mapping data assosiation time 25.150160 ms 
mapping solver time 21.384671 ms 
points size 97142 
sort q time 5.589407 
seperate points time 13.093234 
add points time 1.263953 mspublication time 8.778239 ms 
whole laserOdometry time 8.792705 ms 
 
1317358036.433991909 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.239719 ms 
whole mapping time 233.487432 ms +++++
mappingCount 1758 & avg mapping time 151.812625 ms ++++++++++++++++++++++
map prepare time 4.553000 ms
map corner num 349981  surf num 131206 
--------------------stamp1317358036.537817001
prepare time 11.140404 
sort q time 5.574287 
seperate points time 12.655255 
publication time 7.932251 ms 
whole laserOdometry time 7.944735 ms 
 
build tree time 98.446188 ms 
mapping data assosiation time 23.486142 ms 
points size 99616 
sort q time 5.887379 
seperate points time 13.015488 
scan registration time 31.436340 ms *************
publication time 6.903240 ms 
whole laserOdometry time 6.914998 ms 
 
mapping optimization time 184.573821 
filter time 23.248579 ms 
map prepare time 5.488655 ms
map corner num 350683  surf num 131358 
points size 100862 
prepare time 11.588410 
scan registration time 31.306362 ms *************
-----t: 0.0369562
OdomCount 2645 & avg odom time 0.046000 ms ++++++++++++++++++++++
build tree time 91.740440 ms 
--------------------stamp1317358036.849288940
prepare time 13.863198 
sort q time 5.550911 
seperate points time 13.017591 
-----t: 0.036139
OdomCount 2646 & avg odom time 0.045996 ms ++++++++++++++++++++++
mapping solver time 16.763085 ms 
filter time 23.238927 ms 
points size 99624 
prepare time 13.888887 
sort q time 5.765700 
seperate points time 14.557714 
publication time 9.825139 ms 
whole laserOdometry time 9.837613 ms 
 
build tree time 90.843547 ms 
points size 100347 
mapping data assosiation time 28.554456 ms 
scan registration time 36.114981 ms *************
mapping solver time 27.646691 ms 
1317358037.057007074 WriteOdom laser_odom_to_init
1317358037.057007074 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.959955 ms 
mapping solver time 18.084307 ms 
points size 101824 
filter time 26.400061 ms 
publication time 8.573858 ms 
whole laserOdometry time 8.584133 ms 
 
-----t: 0.0533458
OdomCount 2649 & avg odom time 0.046007 ms ++++++++++++++++++++++
--------------------stamp1317358037.264693021
points size 103085 
mapping pub time 105.410575 ms 
whole mapping time 331.686220 ms +++++
mappingCount 1761 & avg mapping time 151.991652 ms ++++++++++++++++++++++
scan registration time 34.470305 ms *************
publication time 8.003282 ms 
whole laserOdometry time 8.017394 ms 
 
-----t: 0.0495315
OdomCount 2650 & avg odom time 0.046008 ms ++++++++++++++++++++++
--------------------stamp1317358037.368570089
points size 103224 
sort q time 6.008557 
seperate points time 14.497575 
mapping data assosiation time 28.808168 ms 
publication time 12.289795 ms 
whole laserOdometry time 12.304843 ms 
 
-----t: 0.0565205
OdomCount 2651 & avg odom time 0.046012 ms ++++++++++++++++++++++
mapping data assosiation time 24.141669 ms 
points size 103086 
mapping solver time 21.460589 ms 
mapping optimization time 194.836896 
add points time 1.323365 ms
sort q time 5.948836 
seperate points time 14.445377 
filter time 29.564367 ms mapping pub time 9.392693 ms 
whole mapping time 242.942124 ms +++++
--------------------stamp1317358037.576384067
prepare time 12.727018 
sort q time 6.135802 publication time 14.767453 ms build tree time 109.290064 ms 
--------------------stamp1317358037.680326938
sort q time 5.702432 
seperate points time 13.970167 
mapping solver time 42.105170 ms 
publication time 15.366268 ms 
whole laserOdometry time 15.383491 ms 
 
mapping data assosiation time 29.792725 ms 
mapping solver time 18.272257 ms 
--------------------stamp1317358037.784270048
points size 102770 
filter time 31.786754 ms 
-----t: 0.0416365
OdomCount 2655 & avg odom time 0.046018 ms ++++++++++++++++++++++
[0m[ INFO] [1718890120.780503089, 1317358037.880836688]: Received 483934 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890120.780558449, 1317358037.880836688]: Data saved to 1317358036745467.pcd[0m
points size 102467 
sort q time 6.134419 
seperate points time 14.941259 
publication time 10.141965 ms 
whole laserOdometry time 10.172538 ms 
 
mapping solver time 27.379885 ms 
--------------------stamp1317358037.992084026
mapping solver time 21.218262 ms 
publication time 11.375073 ms 
whole laserOdometry time 11.399117 ms 
 
-----t: 0.0547973
OdomCount 2657 & avg odom time 0.046032 ms ++++++++++++++++++++++
--------------------stamp1317358038.095978975
points size 102159 
sort q time 5.919931 
seperate points time 13.836651 
publication time 9.997425 ms 
whole laserOdometry time 10.011968 ms 
 
-----t: 0.0652978
OdomCount 2658 & avg odom time 0.046039 ms ++++++++++++++++++++++
--------------------stamp1317358038.199898004
points size 102045 
mapping solver time 26.046882 ms 
prepare time 11.512491 
scan registration time 35.010291 ms *************
publication time 13.284589 ms 
whole laserOdometry time 13.299394 ms 
 
mapping solver time 26.158450 ms 
filter time 23.776954 ms 
map prepare time 7.176110 ms
map corner num 356035  surf num 133299 
sort q time 6.246098 
seperate points time 13.980009 
publication time 10.470690 ms 
whole laserOdometry time 10.482755 ms 
 
-----t: 0.0513336
OdomCount 2660 & avg odom time 0.046044 ms ++++++++++++++++++++++
1317358038.303838014 WriteOdom laser_odom_to_init
1317358038.303838014 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358038.407803058
points size 101955 
mapping data assosiation time 28.700271 ms 
publication time 10.668942 ms 
whole laserOdometry time 10.685235 ms 
 
-----t: 0.0637551
OdomCount 2661 & avg odom time 0.046051 ms ++++++++++++++++++++++
mapping solver time 14.849834 ms 
points size 101850 
sort q time 6.342227 
seperate points time 14.676033 
mapping pub time 13.166421 ms 
whole mapping time 262.391252 ms +++++
mappingCount 1766 & avg mapping time 152.274490 ms ++++++++++++++++++++++
publication time 14.000904 ms 
whole laserOdometry time 14.013843 ms 
 
-----t: 0.0773653
OdomCount 2662 & avg odom time 0.046063 ms ++++++++++++++++++++++
points size 101449 
sort q time 8.053033 
seperate points time 15.183395 
build tree time 94.692602 ms 
mapping data assosiation time 35.927543 ms 
--------------------stamp1317358038.719708919
prepare time 13.396044 
sort q time 5.774997 
seperate points time 21.952687 
publication time 9.412677 ms 
whole laserOdometry time 9.427752 ms 
 
filter time 21.433047 ms 
--------------------stamp1317358038.823652029
prepare time 11.932389 
sort q time 6.604023 
seperate points time 13.231506 
publication time 9.741361 ms 
whole laserOdometry time 9.756571 ms 
 
-----t: 0.050061
OdomCount 2665 & avg odom time 0.046079 ms ++++++++++++++++++++++
build tree time 93.463296 ms 
--------------------stamp1317358038.927593946
points size 98600 
sort q time 5.692264 
seperate points time 13.284783 
scan registration time 32.841050 ms *************
publication time 10.549965 ms 
whole laserOdometry time 10.565661 ms 
 
mapping solver time 21.266625 ms 
points size 97909 
map prepare time 4.967578 ms
map corner num 306260  surf num 126378 
publication time 11.248693 ms 
whole laserOdometry time 11.261864 ms 
 
-----t: 0.0494589
OdomCount 2667 & avg odom time 0.046088 ms ++++++++++++++++++++++
--------------------stamp1317358039.135454893
points size 98264 
prepare time 13.930864 
scan registration time 32.813922 ms *************
mapping solver time 32.597998 ms 
-----t: 0.0639253
OdomCount 2668 & avg odom time 0.046095 ms ++++++++++++++++++++++
mapping data assosiation time 28.373119 ms 
points size 99099 
sort q time 5.984114 
seperate points time 14.896075 
filter time 31.120019 ms 
publication time 17.167035 ms 
whole laserOdometry time 17.180623 ms 
 
-----t: 0.0551708
OdomCount 2669 & avg odom time 0.046098 ms ++++++++++++++++++++++
--------------------stamp1317358039.343291044
points size 99551 
prepare time 14.283639 
sort q time 5.918431 
seperate points time 13.712019 
build tree time 85.489100 ms 
publication time 11.930706 ms 
whole laserOdometry time 11.964596 ms 
 
-----t: 0.04727
OdomCount 2670 & avg odom time 0.046099 ms ++++++++++++++++++++++
mapping data assosiation time 31.277057 ms 
mapping solver time 23.280872 ms 
--------------------stamp1317358039.447211027
prepare time 13.114319 
mapping data assosiation time 30.292459 ms 
publication time 10.687709 ms 
whole laserOdometry time 10.703051 ms 
 
-----t: 0.0616006
OdomCount 2671 & avg odom time 0.046104 ms ++++++++++++++++++++++
map prepare time 4.143580 ms
map corner num 307942  surf num 127236 
--------------------stamp1317358039.551130056
points size 99609 
sort q time 6.618639 
seperate points time 15.589151 
-----t: 0.0435483
OdomCount 2672 & avg odom time 0.046103 ms ++++++++++++++++++++++
build tree time 105.763931 ms 
[0m[ INFO] [1718890122.544893307, 1317358039.643096469]: Received 490679 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890122.544934476, 1317358039.643096469]: Data saved to 1317358038095978.pcd[0m
points size 99554 
prepare time 14.143279 
mapping data assosiation time 28.667720 ms 
mapping solver time 32.508301 ms 
mapping data assosiation time 31.539508 ms 
mapping solver time 20.416134 ms 
--------------------stamp1317358039.758991956
sort q time 6.057331 
seperate points time 14.029775 
1317358039.239372969 WriteOdom aft_mapped_to_init
--------------------stamp1317358039.862956047
prepare time 11.829664 
sort q time 6.406488 
seperate points time 13.518029 
publication time 8.937267 ms 
whole laserOdometry time 8.970526 ms 
 
mapping solver time 23.195171 ms 
--------------------stamp1317358039.966923952
mapping data assosiation time 29.282594 ms 
scan registration time 28.185274 ms *************
mapping optimization time 191.101811 
publication time 9.624380 ms 
whole laserOdometry time 9.637711 ms 
 
filter time 25.078800 ms 
map prepare time 4.439463 ms
map corner num 309468  surf num 128276 
-----t: 0.0864706
OdomCount 2676 & avg odom time 0.046128 ms ++++++++++++++++++++++
points size 94804 
sort q time 5.788261 
seperate points time 13.380285 
publication time 10.417839 ms 
whole laserOdometry time 10.429405 ms 
 
mapping data assosiation time 26.774487 ms 
--------------------stamp1317358040.174808025
points size 92658 
sort q time 6.284787 
seperate points time 15.902157 
scan registration time 33.659254 ms *************
mapping data assosiation time 34.139510 ms 
-----t: 0.066057
OdomCount 2678 & avg odom time 0.046137 ms ++++++++++++++++++++++
--------------------stamp1317358040.278752088
map prepare time 5.347359 ms
map corner num 310208  surf num 128819 
publication time 7.599347 ms 
whole laserOdometry time 7.636402 ms 
 
-----t: 0.0519108
OdomCount 2679 & avg odom time 0.046139 ms ++++++++++++++++++++++
build tree time 87.328135 ms 
points size 90063 
sort q time 5.315920 
seperate points time 11.334910 
publication time 8.779159 ms 
whole laserOdometry time 8.793528 ms 
 
mapping solver time 33.263782 ms 
-----t: 0.0629131
OdomCount 2680 & avg odom time 0.046145 ms ++++++++++++++++++++++
mapping data assosiation time 31.366144 ms 
points size 89486 
publication time 8.524168 ms 
whole laserOdometry time 8.538668 ms 
 
filter time 30.798394 ms 
mapping pub time 2.424511 ms 
whole mapping time 249.607061 ms +++++
mappingCount 1774 & avg mapping time 152.686347 ms ++++++++++++++++++++++
1317358040.070867062 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358040.590579032
publication time 8.650548 ms 
whole laserOdometry time 8.664793 ms 
 
-----t: 0.0547822
OdomCount 2682 & avg odom time 0.046150 ms ++++++++++++++++++++++
mapping data assosiation time 35.817899 ms 
--------------------stamp1317358040.694545984
sort q time 4.818270 
seperate points time 10.235312 
mapping data assosiation time 35.456697 ms 
publication time 10.896386 ms 
whole laserOdometry time 10.908350 ms 
 
mapping solver time 34.172380 ms 
filter time 20.213175 ms 
--------------------stamp1317358040.798511981
points size 89556 
sort q time 6.756410 
seperate points time 15.194694 
publication time 12.551028 ms 
whole laserOdometry time 12.567315 ms 
 
build tree time 90.742129 ms 
--------------------stamp1317358040.902503013
mapping data assosiation time 31.910409 ms 
publication time 8.977242 ms 
whole laserOdometry time 8.989078 ms mapping solver time 36.232436 ms 
mapping data assosiation time 31.317491 ms 
--------------------stamp1317358041.006493091
sort q time 4.818591 
seperate points time 14.361213 
publication time 10.698799 ms 
whole laserOdometry time 10.713584 ms 
 
map prepare time 5.892310 ms
map corner num 312687  surf num 130459 
--------------------stamp1317358041.110483884
sort q time 4.990779 
seperate points time 11.459806 
publication time 8.991227 ms 
whole laserOdometry time 9.003838 ms 
 
-----t: 0.0559603
OdomCount 2687 & avg odom time 0.046158 ms ++++++++++++++++++++++
mapping data assosiation time 35.107366 ms 
--------------------stamp1317358041.214476108
mapping solver time 27.530836 ms 
sort q time 5.405975 
seperate points time 13.439187 
-----t: 0.0549193
OdomCount 2688 & avg odom time 0.046161 ms ++++++++++++++++++++++
filter time 20.535961 ms 
map prepare time 5.976233 ms
map corner num 313523  surf num 130924 
sort q time 5.719698 
seperate points time 13.387089 
publication time 10.337931 ms 
whole laserOdometry time 10.355405 ms 
 
-----t: 0.0452447
OdomCount 2689 & avg odom time 0.046161 ms ++++++++++++++++++++++
build tree time 86.062288 ms 
--------------------stamp1317358041.422458887
prepare time 12.105594 
sort q time 5.569371 
seperate points time 12.729388 
publication time 8.566104 ms 
whole laserOdometry time 8.598115 ms 
 
mapping solver time 36.527241 ms 
mapping data assosiation time 30.598556 ms 
--------------------stamp1317358041.526426076
mapping solver time 23.034944 ms 
sort q time 6.885147 
seperate points time 14.972605 
mapping pub time 2.516915 ms 
whole mapping time 254.680731 ms +++++
mappingCount 1778 & avg mapping time 152.918804 ms ++++++++++++++++++++++
-----t: 0.0476824
OdomCount 2691 & avg odom time 0.046164 ms ++++++++++++++++++++++
--------------------stamp1317358041.630367994
prepare time 11.869318 
sort q time 6.125168 
seperate points time 14.398156 
build tree time 91.938513 ms 
publication time 9.572753 ms 
whole laserOdometry time 9.597806 ms 
 
mapping data assosiation time 37.781293 ms 
--------------------stamp1317358041.734309911
prepare time 11.278320 
sort q time 6.159169 
seperate points time 14.539677 
scan registration time 32.161219 ms *************
mapping data assosiation time 42.840861 ms 
-----t: 0.0558564
OdomCount 2693 & avg odom time 0.046168 ms ++++++++++++++++++++++
mapping solver time 30.144216 ms 
--------------------stamp1317358041.838253021
drop lidar frame in mapping for real time performance 
points size 99732 
sort q time 6.333895 
seperate points time 15.397451 
publication time 9.188972 ms 
whole laserOdometry time 9.201471 ms 
 
-----t: 0.0495006
OdomCount 2694 & avg odom time 0.046169 ms ++++++++++++++++++++++
--------------------stamp1317358041.942174911
sort q time 6.922919 
seperate points time 13.657701 
mapping data assosiation time 43.682672 ms 
-----t: 0.0447493
OdomCount 2695 & avg odom time 0.046169 ms ++++++++++++++++++++++
--------------------stamp1317358042.046070098
points size 101306 
sort q time 6.022899 
seperate points time 14.638642 
mapping solver time 32.574495 ms 
-----t: 0.0493367
OdomCount 2696 & avg odom time 0.046170 ms ++++++++++++++++++++++
filter time 23.992046 ms 
map prepare time 4.429071 ms
map corner num 316265  surf num 132505 
--------------------stamp1317358042.149920940
prepare time 10.935890 
sort q time 6.102519 
seperate points time 14.267727 
scan registration time 32.330976 ms *************
publication time 12.100632 ms 
whole laserOdometry time 12.116262 ms 
 
1317358042.149920940 WriteOdom laser_odom_to_init
1317358042.149920940 WriteOdom aft_mapped_to_init_high_frec
build tree time 94.528381 ms 
--------------------stamp1317358042.253742933
mapping data assosiation time 37.183173 ms 
points size 101981 
prepare time 15.822095 
sort q time 6.032017 
seperate points time 14.665609 
scan registration time 37.139196 ms *************
publication time 11.328371 ms 
whole laserOdometry time 11.342197 ms 
 
-----t: 0.0648468
OdomCount 2698 & avg odom time 0.046179 ms ++++++++++++++++++++++
mapping data assosiation time 45.156354 ms 
points size 102244 
sort q time 7.310721 
seperate points time 15.303199 
scan registration time 32.635363 ms *************
filter time 30.796633 ms 
-----t: 0.0717819
OdomCount 2699 & avg odom time 0.046189 ms ++++++++++++++++++++++
--------------------stamp1317358042.461358070
points size 102187 
prepare time 14.370176 
scan registration time 36.145284 ms *************
mapping pub time 117.789209 ms 
whole mapping time 399.665170 ms +++++
mappingCount 1781 & avg mapping time 153.190958 ms ++++++++++++++++++++++
publication time 10.414677 ms 
whole laserOdometry time 10.425740 ms 
 
--------------------stamp1317358042.565135002
points size 102067 
sort q time 6.034818 
seperate points time 14.855774 
publication time 10.457712 ms 
whole laserOdometry time 10.475060 ms 
 
-----t: 0.0567518
OdomCount 2701 & avg odom time 0.046197 ms ++++++++++++++++++++++
mapping data assosiation time 38.934490 ms 
points size 102083 
sort q time 6.568996 
seperate points time 14.513256 
publication time 10.499327 ms 
whole laserOdometry time 10.516900 ms 
 
1317358042.668932914 WriteOdom laser_odom_to_init
--------------------stamp1317358042.772751092
points size 102063 
sort q time 6.279315 
seperate points time 16.313703 
publication time 10.706383 ms 
whole laserOdometry time 10.722064 ms 
 
--------------------stamp1317358042.876550912
prepare time 11.487413 
sort q time 6.499974 
seperate points time 14.739878 
build tree time 88.851311 ms 
publication time 14.807948 ms 
whole laserOdometry time 14.825843 ms 
 
[0m[ INFO] [1718890125.849725236, 1317358042.944852327]: Received 450182 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890125.849816216, 1317358042.944852327]: Data saved to 1317358041838253.pcd[0m
-----t: 0.0702178
OdomCount 2704 & avg odom time 0.046212 ms ++++++++++++++++++++++
--------------------stamp1317358042.980328083
prepare time 11.747837 
sort q time 6.647976 
seperate points time 13.428823 
publication time 10.403779 ms 
whole laserOdometry time 10.417814 ms 
 
mapping data assosiation time 46.143647 ms 
-----t: 0.0629404
OdomCount 2705 & avg odom time 0.046218 ms ++++++++++++++++++++++
mapping solver time 31.843169 ms 
points size 102127 
mapping pub time 2.623135 ms 
whole mapping time 285.390491 ms +++++
mappingCount 1783 & avg mapping time 153.339947 ms ++++++++++++++++++++++
map prepare time 5.992373 ms
map corner num 318964  surf num 134014 
scan registration time 33.570140 ms *************
publication time 12.475411 ms 
whole laserOdometry time 12.489913 ms 
 
-----t: 0.0566279
OdomCount 2706 & avg odom time 0.046222 ms ++++++++++++++++++++++
1317358043.084103107 WriteOdom laser_odom_to_init
1317358043.084103107 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358043.187850952
prepare time 12.605600 
build tree time 94.461586 ms 
publication time 11.641007 ms 
whole laserOdometry time 11.654266 ms 
 
mapping data assosiation time 46.516065 ms 
--------------------stamp1317358043.291579008
prepare time 11.244552 
sort q time 6.201477 
seperate points time 14.071329 
mapping data assosiation time 46.319032 ms 
-----t: 0.051088
OdomCount 2708 & avg odom time 0.046228 ms ++++++++++++++++++++++
mapping solver time 29.600026 ms 
filter time 21.141849 ms 
points size 102383 
sort q time 6.360681 
seperate points time 14.455183 
publication time 14.419606 ms 
whole laserOdometry time 14.435408 ms 
 
build tree time 87.134403 ms 
points size 102466 
sort q time 6.336063 
seperate points time 14.997391 
publication time 10.175957 ms 
whole laserOdometry time 10.198009 ms 
 
-----t: 0.0596926
OdomCount 2710 & avg odom time 0.046234 ms ++++++++++++++++++++++
--------------------stamp1317358043.602804899
mapping data assosiation time 40.460460 ms 
scan registration time 32.670131 ms *************
publication time 11.267238 ms 
whole laserOdometry time 11.284048 ms 
 
-----t: 0.0695219
OdomCount 2711 & avg odom time 0.046242 ms ++++++++++++++++++++++
1317358043.602804899 WriteOdom laser_odom_to_init
1317358043.602804899 WriteOdom aft_mapped_to_init_high_frec
map prepare time 4.857362 ms
map corner num 320784  surf num 135024 
points size 102310 
sort q time 6.619953 
seperate points time 26.604161 
publication time 12.508428 ms 
whole laserOdometry time 12.543688 ms 
 
build tree time 95.078282 ms 
--------------------stamp1317358043.810214042
points size 102482 
prepare time 16.898775 
sort q time 6.642552 
seperate points time 16.010610 
publication time 9.794257 ms 
whole laserOdometry time 9.812213 ms 
 
mapping solver time 42.435494 ms 
-----t: 0.0789844
OdomCount 2713 & avg odom time 0.046260 ms ++++++++++++++++++++++
--------------------stamp1317358043.913943052
points size 102620 
sort q time 8.297310 
seperate points time 21.166593 
mapping solver time 37.490388 ms 
-----t: 0.0635833
OdomCount 2714 & avg odom time 0.046266 ms ++++++++++++++++++++++
filter time 27.828737 ms 
points size 102612 
map prepare time 7.116787 ms
map corner num 321717  surf num 135604 
publication time 14.184790 ms 
whole laserOdometry time 14.204823 ms 
 
-----t: 0.0623611
OdomCount 2715 & avg odom time 0.046272 ms ++++++++++++++++++++++
--------------------stamp1317358044.121395111
prepare time 15.115201 
sort q time 6.482162 
seperate points time 15.027360 
publication time 14.284572 ms 
whole laserOdometry time 14.306393 ms 
 
mapping data assosiation time 64.358133 ms 
--------------------stamp1317358044.225120067
points size 102617 
mapping solver time 41.324253 ms 
scan registration time 36.079820 ms *************
publication time 10.288116 ms 
whole laserOdometry time 10.298315 ms 
 
mapping data assosiation time 52.699316 ms 
-----t: 0.0796628
OdomCount 2717 & avg odom time 0.046294 ms ++++++++++++++++++++++
points size 102611 
sort q time 6.546481 
seperate points time 15.260215 
filter time 30.865591 ms 
-----t: 0.0502902
OdomCount 2718 & avg odom time 0.046295 ms ++++++++++++++++++++++
--------------------stamp1317358044.432573080
prepare time 14.357349 
scan registration time 37.549472 ms *************
build tree time 95.888847 ms 
-----t: 0.0540707
OdomCount 2719 & avg odom time 0.046298 ms ++++++++++++++++++++++
[0m[ INFO] [1718890127.423404227, 1317358044.519711815]: Received 457321 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890127.423440890, 1317358044.519711815]: Data saved to 1317358043395304.pcd[0m
mapping data assosiation time 48.566905 ms 
points size 102526 
scan registration time 32.313707 ms *************
mapping solver time 47.970673 ms 
-----t: 0.0662942
OdomCount 2720 & avg odom time 0.046305 ms ++++++++++++++++++++++
mapping data assosiation time 48.550359 ms 
--------------------stamp1317358044.640125036
mapping solver time 32.196167 ms 
publication time 12.453728 ms 
whole laserOdometry time 12.466757 ms 
 
filter time 31.785676 ms 
mapping pub time 3.030536 ms 
whole mapping time 319.224075 ms +++++
mappingCount 1788 & avg mapping time 153.792211 ms ++++++++++++++++++++++
1317358044.017669916 WriteOdom aft_mapped_to_init
--------------------stamp1317358044.743949890
prepare time 13.314412 
sort q time 6.990537 
seperate points time 15.983030 
publication time 14.687111 ms 
whole laserOdometry time 14.699763 ms 
 
-----t: 0.0540344
OdomCount 2722 & avg odom time 0.046314 ms ++++++++++++++++++++++
--------------------stamp1317358044.847820043
mapping data assosiation time 44.687100 ms 
sort q time 5.929060 
seperate points time 14.535762 
scan registration time 35.048005 ms *************
publication time 11.799206 ms 
whole laserOdometry time 11.813480 ms 
 
mapping data assosiation time 45.097765 ms 
--------------------stamp1317358044.951785087
prepare time 11.348051 
mapping solver time 34.123005 ms 
publication time 11.021148 ms 
whole laserOdometry time 11.035705 ms 
 
filter time 27.755354 ms 
--------------------stamp1317358045.055799007
prepare time 12.009318 
sort q time 6.093429 
seperate points time 13.587840 
build tree time 86.706096 ms 
-----t: 0.0561091
OdomCount 2725 & avg odom time 0.046324 ms ++++++++++++++++++++++
mapping data assosiation time 45.287621 ms 
points size 103129 
sort q time 6.302726 
seperate points time 13.649563 
publication time 11.558718 ms 
whole laserOdometry time 11.573527 ms 
 
mapping data assosiation time 51.838700 ms 
--------------------stamp1317358045.263976097
prepare time 13.128654 
scan registration time 33.576048 ms *************
publication time 12.791688 ms 
whole laserOdometry time 12.805651 ms 
 
mapping pub time 2.394530 ms 
whole mapping time 317.981506 ms +++++
mappingCount 1790 & avg mapping time 153.968279 ms ++++++++++++++++++++++
1317358045.263976097 WriteOdom laser_odom_to_init
--------------------stamp1317358045.368108987
prepare time 16.176719 
sort q time 5.912874 
seperate points time 13.844846 
-----t: 0.0421109
OdomCount 2728 & avg odom time 0.046342 ms ++++++++++++++++++++++
build tree time 95.931846 ms 
--------------------stamp1317358045.472218036
mapping data assosiation time 44.311233 ms 
sort q time 5.952396 
seperate points time 13.746749 
publication time 9.286211 ms 
whole laserOdometry time 9.302390 ms 
 
mapping solver time 49.054302 ms 
mapping data assosiation time 42.804275 ms 
points size 102741 
sort q time 5.847620 
seperate points time 14.528534 
mapping solver time 46.536778 ms 
publication time 14.994307 ms 
whole laserOdometry time 15.013159 ms 
 
-----t: 0.0532409
OdomCount 2730 & avg odom time 0.046346 ms ++++++++++++++++++++++
mapping pub time 8.786695 ms 
whole mapping time 326.227848 ms +++++
mappingCount 1791 & avg mapping time 154.064462 ms ++++++++++++++++++++++
map prepare time 4.903094 ms
map corner num 326606  surf num 138148 
--------------------stamp1317358045.680273056
points size 102397 
sort q time 5.538457 
seperate points time 17.104536 
publication time 13.531415 ms 
whole laserOdometry time 13.547706 ms 
 
build tree time 94.784473 ms 
-----t: 0.0759146
OdomCount 2731 & avg odom time 0.046357 ms ++++++++++++++++++++++
1317358045.680273056 WriteOdom laser_odom_to_init
1317358045.680273056 WriteOdom aft_mapped_to_init_high_frec
points size 101880 
sort q time 5.930647 
seperate points time 14.067650 
publication time 10.040674 ms 
whole laserOdometry time 10.054022 ms 
 
-----t: 0.0504354
OdomCount 2732 & avg odom time 0.046358 ms ++++++++++++++++++++++
--------------------stamp1317358045.888205051
prepare time 13.778925 
sort q time 5.578505 
seperate points time 13.483700 
mapping solver time 39.744801 ms 
filter time 25.047023 ms 
map prepare time 4.800030 ms
map corner num 327697  surf num 138641 
--------------------stamp1317358045.992147922
prepare time 12.450413 
sort q time 5.541729 
seperate points time 11.260862 
publication time 10.069883 ms 
whole laserOdometry time 10.096064 ms 
 
build tree time 83.582107 ms 
--------------------stamp1317358046.096115112
points size 98809 
sort q time 5.799350 
seperate points time 14.319184 
mapping solver time 41.859534 ms 
-----t: 0.0480724
OdomCount 2735 & avg odom time 0.046371 ms ++++++++++++++++++++++
mapping data assosiation time 42.091367 ms 
--------------------stamp1317358046.200081110
points size 96932 
sort q time 5.491388 
seperate points time 14.591093 
publication time 12.417140 ms 
whole laserOdometry time 12.431200 ms 
 
-----t: 0.0404445
OdomCount 2736 & avg odom time 0.046369 ms ++++++++++++++++++++++
1317358046.200081110 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 4.929775 ms
map corner num 328765  surf num 139166 
--------------------stamp1317358046.304047107
prepare time 11.424025 
sort q time 5.522157 
seperate points time 13.490799 
publication time 13.948516 ms 
whole laserOdometry time 13.975735 ms 
 
mapping data assosiation time 34.906858 ms 
--------------------stamp1317358046.408037900
prepare time 10.553192 
mapping solver time 36.303488 ms 
mapping data assosiation time 46.523457 ms 
mapping solver time 29.745024 ms 
points size 93510 
sort q time 5.008098 
seperate points time 14.780970 
mapping pub time 2.393489 ms 
whole mapping time 285.284916 ms +++++
mappingCount 1794 & avg mapping time 154.298038 ms ++++++++++++++++++++++
publication time 10.172015 ms 
whole laserOdometry time 10.180016 ms 
 
-----t: 0.0488995
OdomCount 2739 & avg odom time 0.046377 ms ++++++++++++++++++++++
--------------------stamp1317358046.616092920
sort q time 5.345798 
seperate points time 13.808841 
publication time 11.019107 ms 
whole laserOdometry time 11.037540 ms 
 
-----t: 0.0583773
OdomCount 2740 & avg odom time 0.046382 ms ++++++++++++++++++++++
--------------------stamp1317358046.720202922
prepare time 11.488236 
sort q time 5.972501 
seperate points time 12.164229 
publication time 9.833878 ms 
whole laserOdometry time 9.857190 ms 
 
mapping data assosiation time 44.590650 ms 
-----t: 0.059289
OdomCount 2741 & avg odom time 0.046386 ms ++++++++++++++++++++++
1317358046.720202922 WriteOdom laser_odom_to_init
1317358046.720202922 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.497816 ms 
--------------------stamp1317358046.824362039
points size 91237 
prepare time 12.164390 
scan registration time 30.691316 ms *************
publication time 10.126459 ms 
whole laserOdometry time 10.138074 ms 
 
-----t: 0.049783
OdomCount 2742 & avg odom time 0.046388 ms ++++++++++++++++++++++
--------------------stamp1317358046.928544044
prepare time 11.421404 
build tree time 92.983786 ms 
scan registration time 30.452003 ms *************
publication time 11.194898 ms 
whole laserOdometry time 11.208026 ms 
 
mapping data assosiation time 48.385571 ms 
--------------------stamp1317358047.032752037
sort q time 6.176601 
seperate points time 14.528413 
publication time 14.546087 ms 
whole laserOdometry time 14.560060 ms 
 
mapping data assosiation time 51.475108 ms 
-----t: 0.0526241
OdomCount 2744 & avg odom time 0.046388 ms ++++++++++++++++++++++
mapping solver time 30.156303 ms 
--------------------stamp1317358047.136910915
mapping pub time 24.439163 ms 
whole mapping time 321.212121 ms +++++
mappingCount 1796 & avg mapping time 154.467361 ms ++++++++++++++++++++++
-----t: 0.0472943
OdomCount 2745 & avg odom time 0.046388 ms ++++++++++++++++++++++
--------------------stamp1317358047.241043090
sort q time 5.486704 
seperate points time 11.832503 
publication time 10.879583 ms 
whole laserOdometry time 10.904008 ms 
 
mapping data assosiation time 41.405825 ms 
--------------------stamp1317358047.345156908
sort q time 5.339207 
seperate points time 11.910450 
filter time 25.529206 ms 
map prepare time 7.932073 ms
map corner num 333190  surf num 140912 
scan registration time 33.031786 ms *************
publication time 12.149324 ms 
whole laserOdometry time 12.171109 ms 
 
-----t: 0.0546206
OdomCount 2748 & avg odom time 0.046389 ms ++++++++++++++++++++++
build tree time 85.245926 ms 
sort q time 5.096972 
seperate points time 11.728537 
publication time 10.786165 ms 
whole laserOdometry time 10.816404 ms 
 
-----t: 0.0410294
OdomCount 2749 & avg odom time 0.046387 ms ++++++++++++++++++++++
[0m[ INFO] [1718890130.520870415, 1317358047.621851966]: Received 472599 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890130.520903552, 1317358047.621851966]: Data saved to 1317358046512053.pcd[0m
mapping solver time 35.924233 ms 
--------------------stamp1317358047.657464027
mapping data assosiation time 41.667754 ms 
scan registration time 31.552506 ms *************
publication time 11.612236 ms 
whole laserOdometry time 11.625834 ms 
 
-----t: 0.0542705
OdomCount 2750 & avg odom time 0.046390 ms ++++++++++++++++++++++
filter time 25.426919 ms 
map prepare time 5.232186 ms
map corner num 334293  surf num 141317 
points size 92011 
sort q time 6.964119 
seperate points time 12.730761 
publication time 11.239389 ms 
whole laserOdometry time 11.614336 ms 
 
-----t: 0.0809002
OdomCount 2751 & avg odom time 0.046403 ms ++++++++++++++++++++++
points size 92323 
sort q time 5.844406 
seperate points time 13.391562 
publication time 12.821190 ms 
whole laserOdometry time 12.907835 ms 
 
mapping solver time 37.753890 ms 
--------------------stamp1317358048.073832988
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 28.987144 ms *************
publication time 8.983234 ms 
whole laserOdometry time 9.000712 ms 
 
-----t: 0.0549874
OdomCount 2754 & avg odom time 0.046421 ms ++++++++++++++++++++++
--------------------stamp1317358048.177896022
prepare time 15.214910 
publication time 9.850949 ms 
whole laserOdometry time 9.864512 ms 
 
mapping data assosiation time 46.766696 ms --------------------stamp1317358048.281938076
prepare time 13.180255 
sort q time 5.585522 
seperate points time 13.130661 
mapping data assosiation time 48.851564 ms -----t: 0.0534295
OdomCount 2756 & avg odom time 0.046425 ms ++++++++++++++++++++++
mapping solver time 36.534726 ms 
mapping optimization time 281.489885 
add points time 1.518963 ms
points size 97201 
map prepare time 7.290769 ms
map corner num 336464  surf num 142045 
sort q time 6.211793 seperate points time 106.763530 
points size 97963 
sort q time 6.678479 
seperate points time 15.804094 
mapping data assosiation time 48.387120 ms 
--------------------stamp1317358048.593981027
prepare time 12.187627 
sort q time 5.863630 
seperate points time 19.164424 
scan registration time 34.527907 ms *************
mapping solver time 52.161902 ms 
publication time 10.273801 ms 
whole laserOdometry time 10.290799 ms mapping data assosiation time 43.637867 ms 
--------------------stamp1317358048.697995901
points size 99857 
sort q time 6.938499 
seperate points time 15.167314 
filter time 32.703723 ms 
publication time 24.879124 ms 
whole laserOdometry time 24.894554 ms 
 
-----t: 0.0789203
OdomCount 2760 & avg odom time 0.046469 ms ++++++++++++++++++++++
points size 99095 
prepare time 16.004455 
scan registration time 39.925074 ms *************
1317358048.073832989 WriteOdom aft_mapped_to_init
-----t: 0.0843549
OdomCount 2761 & avg odom time 0.046483 ms ++++++++++++++++++++++
points size 99270 
sort q time 6.488097 
seperate points time 15.410801 
-----t: 0.0535265
build tree time 118.553144 ms 
--------------------stamp1317358049.010087013
sort q time 5.789867 
seperate points time 13.660277 
-----t: 0.0395414
OdomCount 2763 & avg odom time 0.046483 ms ++++++++++++++++++++++
1317358049.010087013 WriteOdom laser_odom_to_init
1317358049.010087013 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 44.447516 ms 
--------------------stamp1317358049.114125967
prepare time 11.338460 
sort q time 6.349944 
seperate points time 13.928446 
scan registration time 31.324216 ms *************
publication time 9.371435 ms 
whole laserOdometry time 9.404972 ms 
 
mapping solver time 38.170767 ms 
-----t: 0.0486436
OdomCount 2764 & avg odom time 0.046483 ms ++++++++++++++++++++++
filter time 25.517970 ms 
--------------------stamp1317358049.218163967
prepare time 11.982627 
sort q time 6.261585 
seperate points time 14.355492 
publication time 10.353118 ms 
whole laserOdometry time 10.367945 ms 
 
-----t: 0.043281
OdomCount 2765 & avg odom time 0.046482 ms ++++++++++++++++++++++
build tree time 97.493281 ms 
--------------------stamp1317358049.322155952
points size 99919 
mapping data assosiation time 42.380275 ms 
sort q time 5.402368 
seperate points time 13.562749 
scan registration time 33.560901 ms *************
publication time 9.384732 ms 
whole laserOdometry time 9.413476 ms 
 
mapping solver time 40.798469 ms 
--------------------stamp1317358049.426121950
prepare time 12.118383 
[0m[ INFO] [1718890132.356661222, 1317358049.449643244]: Received 479884 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890132.356791861, 1317358049.449643244]: Data saved to 1317358048073832.pcd[0m
sort q time 10.606791 
seperate points time 18.745921 
scan registration time 36.686596 ms *************
mapping solver time 34.602476 ms 
mapping optimization time 260.426960 
add points time 1.689920 ms
-----t: 0.0385471
OdomCount 2767 & avg odom time 0.046479 ms ++++++++++++++++++++++
publication time 7.903133 ms 
whole laserOdometry time 7.913346 ms 
 
filter time 30.845490 ms 
map prepare time 5.846093 ms
map corner num 339710  surf num 143240 
--------------------stamp1317358049.530090093
points size 100102 
sort q time 5.441599 
seperate points time 13.667680 
publication time 11.386949 ms 
whole laserOdometry time 11.400205 ms build tree time 95.181670 ms 
--------------------stamp1317358049.634057044
prepare time 12.818733 
sort q time 5.463552 
seperate points time 13.810197 
publication time 9.863593 ms 
whole laserOdometry time 9.880312 ms 
 
-----t: 0.0771824
OdomCount 2769 & avg odom time 0.046496 ms ++++++++++++++++++++++
--------------------stamp1317358049.738023042
points size 101879 
sort q time 6.070135 
seperate points time 15.461413 
publication time 9.866297 ms 
whole laserOdometry time 9.882698 ms 
 
filter time 30.338982 ms 
map prepare time 4.865812 ms
map corner num 340972  surf num 143755 
--------------------stamp1317358049.841967105
points size 101956 
sort q time 6.709432 
seperate points time 14.318649 
publication time 11.594659 ms 
whole laserOdometry time 11.617370 ms 
 
build tree time 107.749674 ms 
-----t: 0.0802724
OdomCount 2771 & avg odom time 0.046509 ms ++++++++++++++++++++++
points size 100409 
prepare time 11.375922 
scan registration time 31.475290 ms *************
publication time 11.334669 ms 
whole laserOdometry time 11.351667 ms 
 
mapping data assosiation time 39.570724 ms 
points size 100514 
mapping solver time 33.114392 ms 
publication time 14.782999 ms 
whole laserOdometry time 14.796099 ms 
 
-----t: 0.0423576
OdomCount 2773 & avg odom time 0.046508 ms ++++++++++++++++++++++
1317358050.049802064 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358050.153744935
points size 100556 
prepare time 13.544433 
sort q time 5.778935 
seperate points time 18.241830 
publication time 10.749969 ms 
whole laserOdometry time 10.764857 ms 
 
build tree time 102.849065 ms 
--------------------stamp1317358050.257711887
points size 100701 
sort q time 5.802155 
seperate points time 14.512604 
publication time 8.452446 ms 
whole laserOdometry time 8.467909 ms 
 
-----t: 0.0472091
OdomCount 2775 & avg odom time 0.046511 ms ++++++++++++++++++++++
mapping data assosiation time 37.286731 ms 
--------------------stamp1317358050.361702919
points size 101147 
mapping optimization time 254.566829 
publication time 10.758833 ms 
whole laserOdometry time 10.770193 ms 
 
filter time 31.603737 ms 
mapping pub time 20.734957 ms 
whole mapping time 314.101507 ms +++++
mappingCount 1806 & avg mapping time 155.402680 ms ++++++++++++++++++++++
--------------------stamp1317358050.465694904
points size 101605 
sort q time 5.889401 
seperate points time 14.338704 
publication time 10.054276 ms 
whole laserOdometry time 10.080635 ms 
 
-----t: 0.0569894
OdomCount 2777 & avg odom time 0.046516 ms ++++++++++++++++++++++
1317358050.465694904 WriteOdom laser_odom_to_init
1317358050.465694904 WriteOdom aft_mapped_to_init_high_frec
build tree time 91.978413 ms 
--------------------stamp1317358050.569684982
prepare time 14.080410 
sort q time 5.947399 
seperate points time 14.448813 
mapping solver time 39.341510 ms 
-----t: 0.0484897
OdomCount 2778 & avg odom time 0.046517 ms ++++++++++++++++++++++
mapping data assosiation time 39.151239 ms 
points size 103783 
prepare time 13.866112 
mapping solver time 33.445690 ms 
sort q time 6.038481 
seperate points time 14.936974 
scan registration time 34.479011 ms *************
filter time 32.336696 ms 
-----t: 0.046546
OdomCount 2779 & avg odom time 0.046517 ms ++++++++++++++++++++++
1317358050.673697948 WriteOdom laser_odom_to_init
1317358050.673697948 WriteOdom aft_mapped_to_init_high_frec
map prepare time 5.343694 ms
map corner num 288876  surf num 137457 
--------------------stamp1317358050.777714014
points size 103788 
sort q time 6.070431 
seperate points time 15.036339 
build tree time 83.740939 ms 
-----t: 0.0551588
OdomCount 2780 & avg odom time 0.046520 ms ++++++++++++++++++++++
mapping data assosiation time 40.822675 ms 
--------------------stamp1317358050.881728887
points size 103618 
sort q time 7.124807 
seperate points time 14.441495 
publication time 9.292515 ms 
whole laserOdometry time 9.324201 ms 
 
mapping data assosiation time 45.115489 ms -----t: 0.0706907
OdomCount 2781 & avg odom time 0.046529 ms ++++++++++++++++++++++
--------------------stamp1317358050.985765933
prepare time 11.452899 
sort q time 5.943463 
seperate points time 14.133988 
mapping pub time 2.341211 ms 
whole mapping time 291.880099 ms +++++
mappingCount 1808 & avg mapping time 155.552114 ms ++++++++++++++++++++++
publication time 15.863538 ms 
whole laserOdometry time 15.876754 ms 
 
-----t: 0.0478734
OdomCount 2782 & avg odom time 0.046529 ms ++++++++++++++++++++++
[0m[ INFO] [1718890133.959740661, 1317358051.060436814]: Received 488090 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890133.959773618, 1317358051.060436814]: Data saved to 1317358049841967.pcd[0m
--------------------stamp1317358051.089806079
prepare time 11.782586 
build tree time 79.391215 ms 
publication time 10.294554 ms 
whole laserOdometry time 10.309081 ms 
 
-----t: 0.0526648
OdomCount 2783 & avg odom time 0.046532 ms ++++++++++++++++++++++
1317358051.089806079 WriteOdom laser_odom_to_init
1317358051.089806079 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 44.264079 ms 
mapping solver time 34.056196 ms 
points size 101719 
sort q time 5.788420 
seperate points time 13.838800 
mapping data assosiation time 45.452890 ms 
-----t: 0.0435311
OdomCount 2784 & avg odom time 0.046530 ms ++++++++++++++++++++++
mapping solver time 36.237429 ms 
mapping optimization time 242.028922 
add points time 1.605285 ms
filter time 20.991494 ms 
prepare time 12.016143 
sort q time 6.568580 
seperate points time 13.623300 
publication time 10.796759 ms 
whole laserOdometry time 10.811199 ms 
 
build tree time 82.786434 ms 
points size 101665 
sort q time 5.892839 
seperate points time 13.834775 
scan registration time 30.036819 ms *************
publication time 11.687301 ms mapping solver time 40.452245 ms 
--------------------stamp1317358051.506104946
points size 101850 
sort q time 5.957076 
seperate points time 14.513735 
-----t: 0.040939
OdomCount 2787 & avg odom time 0.046526 ms ++++++++++++++++++++++
filter time 19.554562 ms 
map prepare time 5.510079 ms
map corner num 292851  surf num 139336 
points size 101428 
prepare time 11.245244 
scan registration time 29.602276 ms *************
publication time 16.166302 ms 
whole laserOdometry time 16.174811 ms 
 
build tree time 83.280237 ms -----t: 0.0801462
OdomCount 2788 & avg odom time 0.046538 ms ++++++++++++++++++++++
1317358051.610215902 WriteOdom laser_odom_to_init
1317358051.610215902 WriteOdom aft_mapped_to_init_high_frec
points size 101433 
mapping data assosiation time 51.703205 ms 
scan registration time 36.840683 ms *************
publication time 9.537489 ms 
whole laserOdometry time 9.554472 ms 
 
--------------------stamp1317358051.818366050
points size 101588 
sort q time 5.691188 
seperate points time 14.178591 
publication time 9.796852 ms 
whole laserOdometry time 9.809402 ms 
 
mapping solver time 45.615992 ms 
mapping optimization time 270.057151 
add points time 1.636474 ms
-----t: 0.0524556
OdomCount 2790 & avg odom time 0.046542 ms ++++++++++++++++++++++
1317358051.818366050 WriteOdom laser_odom_to_init
1317358051.818366050 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 18.952003 ms 
whole mapping time 320.330687 ms +++++
mappingCount 1811 & avg mapping time 155.780486 ms ++++++++++++++++++++++
points size 100643 
sort q time 5.843370 
seperate points time 14.325823 
publication time 11.970021 ms 
whole laserOdometry time 11.996855 ms 
 
build tree time 95.035715 ms 
points size 100086 
sort q time 5.488688 
seperate points time 13.731775 
mapping data assosiation time 46.996696 ms 
publication time 10.370174 ms 
whole laserOdometry time 10.385531 ms 
 
-----t: 0.0605373
OdomCount 2792 & avg odom time 0.046551 ms ++++++++++++++++++++++
1317358052.026407957 WriteOdom laser_odom_to_init
1317358052.026407957 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 40.895471 ms 
--------------------stamp1317358052.130364894
sort q time 5.654932 
seperate points time 13.648457 
-----t: 0.0459903
OdomCount 2793 & avg odom time 0.046551 ms ++++++++++++++++++++++
filter time 21.078643 ms 
map prepare time 5.456130 ms
map corner num 295697  surf num 140760 
points size 99303 
sort q time 6.100768 
seperate points time 13.693191 
publication time 12.496754 ms 
whole laserOdometry time 12.510037 ms 
 
build tree time 81.948408 ms 
--------------------stamp1317358052.338151931
mapping data assosiation time 38.929084 ms 
scan registration time 29.405167 ms *************
publication time 9.923487 ms 
whole laserOdometry time 9.936031 ms 
 
-----t: 0.046461
OdomCount 2795 & avg odom time 0.046550 ms ++++++++++++++++++++++
mapping data assosiation time 41.785731 ms 
points size 97655 
sort q time 5.732886 
seperate points time 13.818606 
mapping optimization time 248.745765 
publication time 12.286514 ms 
whole laserOdometry time 12.300683 ms 
 
-----t: 0.0482923
OdomCount 2796 & avg odom time 0.046551 ms ++++++++++++++++++++++
map prepare time 4.631164 ms
map corner num 297054  surf num 141377 
--------------------stamp1317358052.545821905
points size 96578 
sort q time 5.407887 
seperate points time 14.064023 
publication time 10.705957 ms 
whole laserOdometry time 10.720702 ms 
 
[0m[ INFO] [1718890135.528518427, 1317358052.625548389]: Received 434372 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890135.528549949, 1317358052.625548389]: Data saved to 1317358051297908.pcd[0m
mapping data assosiation time 39.983834 ms 
--------------------stamp1317358052.649620056
prepare time 11.015751 
sort q time 5.894163 
seperate points time 15.879934 
publication time 11.259359 ms 
whole laserOdometry time 11.293232 ms 
 
-----t: 0.0472321
OdomCount 2798 & avg odom time 0.046549 ms ++++++++++++++++++++++
mapping data assosiation time 44.627145 ms 
--------------------stamp1317358052.753418922
mapping solver time 39.848532 ms 
sort q time 5.162026 
seperate points time 13.280617 
scan registration time 32.239476 ms *************
drop lidar frame in mapping for real time performance 
-----t: 0.0470511
OdomCount 2799 & avg odom time 0.046550 ms ++++++++++++++++++++++
1317358052.753418922 WriteOdom laser_odom_to_init
1317358052.753418922 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358052.857218027
points size 92605 
sort q time 5.242845 
seperate points time 13.176514 
build tree time 74.559129 ms 
scan registration time 30.318148 ms *************
publication time 9.805557 ms 
whole laserOdometry time 9.820515 ms 
 
-----t: 0.0502342
OdomCount 2800 & avg odom time 0.046551 ms ++++++++++++++++++++++
--------------------stamp1317358052.960993051
points size 92123 
sort q time 5.357473 
seperate points time 13.425762 
mapping data assosiation time 43.356808 ms 
publication time 12.527105 ms 
whole laserOdometry time 12.540868 ms 
 
-----t: 0.053962
OdomCount 2801 & avg odom time 0.046554 ms ++++++++++++++++++++++
mapping solver time 39.934560 ms 
--------------------stamp1317358053.064769983
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 6.420414 ms
map corner num 290006  surf num 135428 
publication time 9.518644 ms 
whole laserOdometry time 9.534003 ms 
 
build tree time 75.826988 ms 
points size 92349 
scan registration time 31.407431 ms *************
-----t: 0.0438294
OdomCount 2803 & avg odom time 0.046551 ms ++++++++++++++++++++++
mapping solver time 37.980258 ms 
--------------------stamp1317358053.272291898
mapping data assosiation time 41.571207 ms 
sort q time 5.336353 
seperate points time 13.599752 
mapping solver time 36.084134 ms 
filter time 21.460784 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358053.376066923
prepare time 12.173598 
sort q time 5.383902 
seperate points time 12.514128 
-----t: 0.0439288
OdomCount 2805 & avg odom time 0.046548 ms ++++++++++++++++++++++
mapping data assosiation time 35.145626 ms 
points size 96279 
sort q time 15.472533 
seperate points time 22.091386 
mapping solver time 42.101046 ms 
publication time 8.681005 ms 
whole laserOdometry time 8.693276 ms 
 
mapping data assosiation time 41.835813 ms 
points size 95568 
mapping solver time 28.609114 ms 
sort q time 5.728594 
seperate points time 13.287214 
filter time 27.609845 ms 
map prepare time 5.488236 ms
map corner num 292631  surf num 136449 
1317358053.583666086 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358053.687465906
points size 96031 
prepare time 11.404545 
publication time 10.939416 ms 
whole laserOdometry time 10.956707 ms 
 
mapping data assosiation time 42.739157 ms 
mapping solver time 37.182251 ms 
sort q time 16.118793 
seperate points time 23.308286 
publication time 10.311636 ms 
whole laserOdometry time 10.324617 ms 
 
mapping solver time 34.202511 ms 
-----t: 0.0693765
OdomCount 2809 & avg odom time 0.046556 ms ++++++++++++++++++++++
filter time 21.682999 ms 
map prepare time 6.544508 ms
map corner num 294004  surf num 137077 
sort q time 5.487307 
seperate points time 13.894026 
publication time 10.704576 ms 
whole laserOdometry time 10.734301 ms 
 
-----t: 0.0670671
OdomCount 2810 & avg odom time 0.046563 ms ++++++++++++++++++++++
--------------------stamp1317358053.998861074
mapping data assosiation time 39.779998 ms 
scan registration time 34.313068 ms *************
publication time 9.650714 ms 
whole laserOdometry time 9.664153 ms 
 
mapping data assosiation time 35.039801 ms 
points size 96085 
sort q time 5.646130 
seperate points time 13.115202 
publication time 13.600900 ms 
whole laserOdometry time 13.618163 ms 
 
map prepare time 4.780039 ms
map corner num 295336  surf num 137540 
--------------------stamp1317358054.206461906
sort q time 5.664935 
seperate points time 13.095236 
build tree time 77.028352 ms 
mapping data assosiation time 37.030450 ms 
--------------------stamp1317358054.310254096
points size 92060 
sort q time 16.294916 
seperate points time 23.924875 
publication time 8.188594 ms 
whole laserOdometry time 8.200352 ms 
 
mapping solver time 28.805711 ms 
--------------------stamp1317358054.414052963
mapping pub time 2.251143 ms 
whole mapping time 258.280677 ms +++++
mappingCount 1820 & avg mapping time 156.375418 ms ++++++++++++++++++++++
1317358053.895037889 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 5.640456 ms
map corner num 296716  surf num 138032 
publication time 10.282659 ms 
whole laserOdometry time 10.294673 ms 
 
build tree time 75.519753 ms 
points size 90516 
sort q time 6.006759 
seperate points time 14.783377 
-----t: 0.0386451
OdomCount 2816 & avg odom time 0.046556 ms ++++++++++++++++++++++
mapping solver time 37.749183 ms 
--------------------stamp1317358054.621675968
points size 90807 
sort q time 4.910412 
seperate points time 12.273430 
scan registration time 31.052216 ms *************
publication time 9.032088 ms 
whole laserOdometry time 9.039664 ms 
 filter time 21.460937 ms 
--------------------stamp1317358054.725450038
prepare time 12.672212 
sort q time 5.046584 
seperate points time 12.408921 
-----t: 0.0478948
OdomCount 2818 & avg odom time 0.046555 ms ++++++++++++++++++++++
map prepare time 4.731209 ms
map corner num 298086  surf num 138561 
--------------------stamp1317358054.829251050
prepare time 11.540792 
sort q time 5.061307 
seperate points time 11.901039 
publication time 8.321757 ms 
whole laserOdometry time 8.332158 ms 
 
build tree time 77.305596 ms 
-----t: 0.0624654
OdomCount 2819 & avg odom time 0.046561 ms ++++++++++++++++++++++
mapping data assosiation time 38.719174 ms 
--------------------stamp1317358054.933073997
sort q time 4.967639 
seperate points time 11.478213 
publication time 9.534101 ms 
whole laserOdometry time 9.551552 ms 
 
-----t: 0.0510325
OdomCount 2820 & avg odom time 0.046562 ms ++++++++++++++++++++++
mapping solver time 19.985184 ms 
--------------------stamp1317358055.036895990
prepare time 12.246166 
sort q time 5.269998 
seperate points time 12.414227 
publication time 8.487810 ms 
whole laserOdometry time 8.503537 ms 
 
-----t: 0.0453731
OdomCount 2821 & avg odom time 0.046562 ms ++++++++++++++++++++++
build tree time 77.835905 ms 
points size 90249 
prepare time 9.699480 
scan registration time 25.998185 ms *************
publication time 12.187194 ms 
whole laserOdometry time 12.199856 ms 
 
-----t: 0.0523853
OdomCount 2822 & avg odom time 0.046564 ms ++++++++++++++++++++++
--------------------stamp1317358055.244539022
prepare time 11.950954 
sort q time 5.462512 
seperate points time 12.726599 
scan registration time 30.481354 ms *************
publication time 9.187818 ms 
whole laserOdometry time 9.201073 ms 
 
mapping pub time 2.026046 ms 
whole mapping time 263.082174 ms +++++
mappingCount 1823 & avg mapping time 156.597597 ms ++++++++++++++++++++++
[0m[ INFO] [1718890138.244789450, 1317358055.343539714]: Received 436647 data points in frame camera_init with the following fields: x y z intensity[0m
points size 92522 
sort q time 5.729712 
seperate points time 12.735000 
publication time 9.038518 ms 
whole laserOdometry time 9.051374 ms 
 
-----t: 0.0500869
OdomCount 2824 & avg odom time 0.046565 ms ++++++++++++++++++++++
--------------------stamp1317358055.452187061
sort q time 5.269643 
seperate points time 12.535998 
mapping solver time 36.919211 ms 
-----t: 0.0422642
OdomCount 2825 & avg odom time 0.046563 ms ++++++++++++++++++++++
mapping data assosiation time 35.988478 ms 
mapping solver time 25.835855 ms 
points size 93227 
filter time 23.290315 ms 
map prepare time 6.318451 ms
map corner num 302068  surf num 140360 
publication time 14.305711 ms 
whole laserOdometry time 14.319549 ms 
 
--------------------stamp1317358055.659833908
prepare time 10.577136 
sort q time 6.334525 
seperate points time 12.860335 
scan registration time 28.425288 ms *************
publication time 10.113578 ms 
whole laserOdometry time 10.142463 ms 
 
-----t: 0.0514221
OdomCount 2827 & avg odom time 0.046565 ms ++++++++++++++++++++++
mapping solver time 35.526017 ms 
--------------------stamp1317358055.763655900
mapping data assosiation time 37.252210 ms 
publication time 11.620083 ms 
whole laserOdometry time 11.635017 ms 
 
-----t: 0.0553209
OdomCount 2828 & avg odom time 0.046568 ms ++++++++++++++++++++++
filter time 25.289657 ms 
--------------------stamp1317358055.867477893
points size 95448 
prepare time 11.000306 
scan registration time 29.382196 ms *************
publication time 11.444341 ms 
whole laserOdometry time 11.455597 ms 
 
-----t: 0.051926
OdomCount 2829 & avg odom time 0.046570 ms ++++++++++++++++++++++
1317358055.867477893 WriteOdom laser_odom_to_init
1317358055.867477893 WriteOdom aft_mapped_to_init_high_frec
build tree time 86.029449 ms 
--------------------stamp1317358055.971302032
sort q time 5.925436 
seperate points time 18.520273 
publication time 18.364217 ms 
whole laserOdometry time 18.378926 ms 
 
--------------------stamp1317358056.075098991
prepare time 10.789841 
filter time 24.009735 ms 
mapping pub time 21.654378 ms 
whole mapping time 277.120775 ms +++++
mappingCount 1826 & avg mapping time 156.782343 ms ++++++++++++++++++++++
1317358055.556010962 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 5.765846 ms
map corner num 304725  surf num 141963 
--------------------stamp1317358056.178899049
points size 95546 
sort q time 5.344454 
seperate points time 12.999643 
-----t: 0.0415027
OdomCount 2832 & avg odom time 0.046573 ms ++++++++++++++++++++++
mapping data assosiation time 37.263942 ms 
--------------------stamp1317358056.282720088
prepare time 13.055504 
sort q time 5.555898 
seperate points time 13.119297 
-----t: 0.0425657
OdomCount 2833 & avg odom time 0.046571 ms ++++++++++++++++++++++
mapping solver time 28.409258 ms 
mapping pub time 2.247965 ms 
whole mapping time 254.652188 ms +++++
mappingCount 1827 & avg mapping time 156.835921 ms ++++++++++++++++++++++
points size 94776 
sort q time 5.677963 
seperate points time 13.327141 
-----t: 0.04351
OdomCount 2834 & avg odom time 0.046570 ms ++++++++++++++++++++++
build tree time 82.335352 ms 
--------------------stamp1317358056.490340948
prepare time 10.253927 
sort q time 6.200308 
seperate points time 14.521725 
publication time 9.600374 ms 
whole laserOdometry time 9.615661 ms 
 
mapping solver time 39.375130 ms 
--------------------stamp1317358056.594139099
sort q time 5.999726 
seperate points time 12.083511 
scan registration time 26.225766 ms *************
publication time 9.510576 ms 
whole laserOdometry time 9.526873 ms 
 
filter time 29.433625 ms 
-----t: 0.0556952
OdomCount 2836 & avg odom time 0.046576 ms ++++++++++++++++++++++
1317358056.594139099 WriteOdom laser_odom_to_init
1317358056.594139099 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.190622 ms 
whole mapping time 276.665468 ms +++++
mappingCount 1828 & avg mapping time 156.901475 ms ++++++++++++++++++++++
1317358056.075098991 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358056.697915077
sort q time 5.991566 
seperate points time 12.291417 
-----t: 0.0410915
OdomCount 2837 & avg odom time 0.046574 ms ++++++++++++++++++++++
mapping data assosiation time 37.858455 ms 
points size 93300 
sort q time 5.403947 
seperate points time 13.249963 
publication time 9.415587 ms 
whole laserOdometry time 9.432335 ms 
 
mapping data assosiation time 41.299464 ms 
mapping solver time 26.006753 ms 
points size 92341 
prepare time 12.736551 
publication time 8.573610 ms 
whole laserOdometry time 8.584911 ms 
 
-----t: 0.0456844
OdomCount 2839 & avg odom time 0.046574 ms ++++++++++++++++++++++
--------------------stamp1317358057.009169101
build tree time 80.934125 ms 
sort q time 5.945583 
seperate points time 14.749501 
publication time 9.742359 ms 
whole laserOdometry time 9.756405 ms 
 
-----t: 0.0552358
OdomCount 2840 & avg odom time 0.046577 ms ++++++++++++++++++++++
mapping solver time 35.030443 ms 
--------------------stamp1317358057.112921953
sort q time 5.288119 
seperate points time 12.435093 
scan registration time 27.842169 ms *************
mapping data assosiation time 42.115259 ms 
publication time 10.086173 ms 
whole laserOdometry time 10.099465 ms 
 
mapping solver time 33.196921 ms 
filter time 22.142392 ms 
map prepare time 5.402078 ms
map corner num 294339  surf num 147167 
points size 94441 
prepare time 10.584498 
scan registration time 28.540779 ms *************
publication time 10.425016 ms 
whole laserOdometry time 10.441814 ms 
 
-----t: 0.0425008
OdomCount 2842 & avg odom time 0.046573 ms ++++++++++++++++++++++
build tree time 88.949307 ms 
--------------------stamp1317358057.320417881
mapping data assosiation time 40.452018 ms 
publication time 9.534522 ms 
whole laserOdometry time 9.547571 ms 
 
mapping solver time 39.724712 ms 
filter time 28.795360 ms 
mapping pub time 12.961904 ms 
whole mapping time 289.525984 ms +++++
mappingCount 1831 & avg mapping time 157.092853 ms ++++++++++++++++++++++
--------------------stamp1317358057.527921915
points size 96168 
sort q time 5.235772 
seperate points time 13.162934 
build tree time 76.619847 ms 
publication time 11.625154 ms 
whole laserOdometry time 11.637599 ms 
 
mapping data assosiation time 37.209957 ms 
--------------------stamp1317358057.631648063
points size 97660 
prepare time 10.104649 
scan registration time 27.608925 ms *************
publication time 10.194334 ms 
whole laserOdometry time 10.212256 ms 
 
-----t: 0.0437189
OdomCount 2846 & avg odom time 0.046580 ms ++++++++++++++++++++++
mapping solver time 25.693131 ms 
--------------------stamp1317358057.735421895
points size 100083 
filter time 21.959807 ms 
prepare time 12.549472 
scan registration time 33.443751 ms *************
publication time 8.226368 ms 
whole laserOdometry time 8.238153 ms 
 
-----t: 0.0470929
OdomCount 2847 & avg odom time 0.046580 ms ++++++++++++++++++++++
1317358057.735421895 WriteOdom laser_odom_to_init
1317358057.735421895 WriteOdom aft_mapped_to_init_high_frec
build tree time 80.897687 ms 
points size 100990 
sort q time 5.917844 
seperate points time 14.332624 
mapping data assosiation time 41.841973 ms 
publication time 10.651155 ms 
whole laserOdometry time 10.665928 ms 
 
mapping solver time 32.743991 ms 
--------------------stamp1317358057.943043947
mapping data assosiation time 37.854706 ms 
sort q time 5.680571 
seperate points time 14.209252 
mapping solver time 30.502099 ms 
publication time 10.817322 ms 
whole laserOdometry time 10.831904 ms 
 
filter time 28.043947 ms 
mapping pub time 2.092132 ms 
whole mapping time 264.504643 ms +++++
mappingCount 1833 & avg mapping time 157.202906 ms ++++++++++++++++++++++
1317358057.527921915 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358058.046891927
points size 101118 
sort q time 7.163812 
seperate points time 21.774511 
build tree time 92.342807 ms 
-----t: 0.0649826
OdomCount 2850 & avg odom time 0.046589 ms ++++++++++++++++++++++
--------------------stamp1317358058.150712966
points size 98825 
mapping solver time 42.433476 ms 
1317358058.150712966 WriteOdom laser_odom_to_init
1317358058.150712966 WriteOdom aft_mapped_to_init_high_frec
publication time 10.662433 ms 
whole laserOdometry time 10.674773 ms 
 
mapping data assosiation time 45.807702 ms 
points size 97131 
mapping solver time 31.099313 ms 
publication time 9.843023 ms 
whole laserOdometry time 9.858108 ms 
 
-----t: 0.0696
OdomCount 2852 & avg odom time 0.046601 ms ++++++++++++++++++++++
--------------------stamp1317358058.358335018
prepare time 11.146536 
sort q time 5.404761 
seperate points time 13.001715 
scan registration time 28.733294 ms *************
-----t: 0.0542088
OdomCount 2853 & avg odom time 0.046603 ms ++++++++++++++++++++++
mapping data assosiation time 45.058735 ms 
--------------------stamp1317358058.462133884
mapping solver time 38.584959 ms 
sort q time 5.722647 
seperate points time 13.499239 
publication time 11.753225 ms 
whole laserOdometry time 11.766527 ms 
 
mapping data assosiation time 44.202573 ms 
mapping solver time 28.291566 ms 
--------------------stamp1317358058.565958023
prepare time 10.725191 
mapping pub time 2.340404 ms 
whole mapping time 275.822882 ms +++++
mappingCount 1835 & avg mapping time 157.338414 ms ++++++++++++++++++++++
publication time 7.648544 ms 
whole laserOdometry time 7.667757 ms 
 
-----t: 0.0422972
OdomCount 2855 & avg odom time 0.046602 ms ++++++++++++++++++++++
1317358058.565958023 WriteOdom laser_odom_to_init
1317358058.565958023 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358058.669756889
prepare time 10.653606 
sort q time 5.784415 
seperate points time 11.985068 
publication time 9.212771 ms 
whole laserOdometry time 9.227335 ms 
 
-----t: 0.0395381
OdomCount 2856 & avg odom time 0.046599 ms ++++++++++++++++++++++
mapping solver time 35.966425 ms 
--------------------stamp1317358058.773554086
prepare time 9.526109 
sort q time 5.468652 
seperate points time 12.381039 
publication time 9.924393 ms 
whole laserOdometry time 9.953360 ms 
 
-----t: 0.038903
OdomCount 2857 & avg odom time 0.046597 ms ++++++++++++++++++++++
filter time 20.794093 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
points size 91812 
scan registration time 30.482151 ms *************
publication time 10.732388 ms 
whole laserOdometry time 10.744935 ms 
 
-----t: 0.0464027
OdomCount 2858 & avg odom time 0.046596 ms ++++++++++++++++++++++
build tree time 91.091009 ms 
--------------------stamp1317358058.981127977
sort q time 5.299457 
seperate points time 11.491957 
scan registration time 26.516668 ms *************
mapping data assosiation time 43.237555 ms 
-----t: 0.0426256
OdomCount 2859 & avg odom time 0.046595 ms ++++++++++++++++++++++
mapping solver time 40.636278 ms 
--------------------stamp1317358059.084902048
points size 92411 
sort q time 5.344079 
seperate points time 13.212420 
mapping solver time 36.738444 ms 
-----t: 0.0461404
OdomCount 2860 & avg odom time 0.046595 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358059.188677072
prepare time 11.454806 
sort q time 5.243334 
seperate points time 12.575959 
scan registration time 26.744068 ms *************
build tree time 85.711468 ms 
-----t: 0.0583467
OdomCount 2861 & avg odom time 0.046599 ms ++++++++++++++++++++++
mapping data assosiation time 36.670538 ms 
points size 89425 
sort q time 4.909831 
seperate points time 11.908582 
publication time 10.712636 ms 
whole laserOdometry time 10.727120 ms 
 
-----t: 0.0406224
OdomCount 2862 & avg odom time 0.046597 ms ++++++++++++++++++++++
mapping data assosiation time 41.091112 ms 
mapping solver time 20.833962 ms 
--------------------stamp1317358059.396297931
points size 89652 
map prepare time 6.840380 ms
map corner num 306252  surf num 153646 
publication time 9.922831 ms 
whole laserOdometry time 9.940578 ms 
 
-----t: 0.0651656
OdomCount 2863 & avg odom time 0.046603 ms ++++++++++++++++++++++
--------------------stamp1317358059.500097036
prepare time 10.606141 
build tree time 101.737432 ms 
publication time 11.395046 ms 
whole laserOdometry time 11.409214 ms 
 
-----t: 0.044525
OdomCount 2864 & avg odom time 0.046603 ms ++++++++++++++++++++++
mapping solver time 33.629696 ms 
points size 92938 
sort q time 5.918620 
seperate points time 12.345798 
scan registration time 23.295807 ms *************
publication time 12.181879 ms 
whole laserOdometry time 12.201250 ms 
 
-----t: 0.0479515
OdomCount 2865 & avg odom time 0.046603 ms ++++++++++++++++++++++
mapping solver time 33.421382 ms 
filter time 21.294101 ms 
map prepare time 7.290253 ms
map corner num 271477  surf num 128041 
sort q time 6.301470 
seperate points time 12.230119 
publication time 9.526973 ms 
whole laserOdometry time 9.540525 ms 
 
-----t: 0.0411914
OdomCount 2866 & avg odom time 0.046601 ms ++++++++++++++++++++++
1317358059.707695007 WriteOdom laser_odom_to_init
1317358059.707695007 WriteOdom aft_mapped_to_init_high_frec
build tree time 76.475731 ms 
--------------------stamp1317358059.811492919
prepare time 10.836147 
mapping data assosiation time 42.477904 ms 
publication time 10.633332 ms 
whole laserOdometry time 10.656234 ms 
 
mapping solver time 43.471636 ms 
--------------------stamp1317358059.915316104
prepare time 12.439664 
scan registration time 36.105290 ms *************
mapping pub time 2.141752 ms publication time 13.009597 ms 
whole laserOdometry time 13.021876 ms 
 
build tree time 91.738993 ms 
-----t: 0.0875934
OdomCount 2869 & avg odom time 0.046628 ms ++++++++++++++++++++++
sort q time 6.048641 
seperate points time 14.643602 
publication time 10.380470 ms 
whole laserOdometry time 10.394539 ms 
 
-----t: 0.0607894
--------------------stamp1317358060.226736068
prepare time 12.039029 
sort q time 5.881029 
-----t: 0.0512574
OdomCount 2871 & avg odom time 0.046635 ms ++++++++++++++++++++++
filter time 19.586542 ms 
--------------------stamp1317358060.330534934
sort q time 6.574839 
seperate points time 16.054237 
publication time 10.242169 ms 
whole laserOdometry time 10.255653 ms 
 
-----t: 0.0596062
OdomCount 2872 & avg odom time 0.046639 ms ++++++++++++++++++++++
mapping pub time 114.859113 ms 
whole mapping time 417.050969 ms +++++
mappingCount 1841 & avg mapping time 157.816161 ms ++++++++++++++++++++++
points size 102345 
sort q time 6.028175 
seperate points time 14.081546 
publication time 11.303376 ms 
whole laserOdometry time 11.321816 ms 
 
--------------------stamp1317358060.538134098
build tree time 131.275797 ms 
publication time 10.755437 ms 
whole laserOdometry time 10.768925 ms 
 
mapping data assosiation time 44.966304 ms 
--------------------stamp1317358060.641907930
points size 102455 
prepare time 14.877549 
sort q time 6.005781 
seperate points time 15.062196 
publication time 9.666073 ms 
whole laserOdometry time 9.678436 ms 
 
mapping data assosiation time 59.859739 ms 
mapping optimization time 298.858823 
points size 102544 
mapping pub time 2.399813 ms 
whole mapping time 332.248560 ms +++++
mappingCount 1842 & avg mapping time 157.910861 ms ++++++++++++++++++++++
1317358060.019115925 WriteOdom aft_mapped_to_init
publication time 11.930392 ms 
whole laserOdometry time 11.941829 ms 
 
--------------------stamp1317358060.849505901
prepare time 14.829551 
sort q time 5.655974 
seperate points time 13.599987 
mapping data assosiation time 41.709211 ms 
-----t: 0.0531862
OdomCount 2877 & avg odom time 0.046665 ms ++++++++++++++++++++++
mapping solver time 39.713245 ms 
--------------------stamp1317358060.953305959
prepare time 15.970625 
mapping data assosiation time 64.353682 ms 
publication time 14.206040 ms 
whole laserOdometry time 14.219707 ms 
 
mapping solver time 49.415757 ms 
points size 103885 
filter time 29.781084 ms 
map prepare time 6.671071 ms
map corner num 276918  surf num 131250 
publication time 9.143262 ms 
whole laserOdometry time 9.161321 ms 
 
-----t: 0.0660116
OdomCount 2879 & avg odom time 0.046683 ms ++++++++++++++++++++++
1317358061.057104110 WriteOdom laser_odom_to_init
--------------------stamp1317358061.160902023
prepare time 11.603712 
sort q time 7.127785 publication time 10.432498 ms 
whole laserOdometry time 10.442523 ms 
 
mapping data assosiation time 52.313740 ms 
points size 102763 
sort q time 6.507130 
seperate points time 13.610314 
publication time 11.278147 ms 
whole laserOdometry time 11.293280 ms 
 
mapping data assosiation time 49.503014 ms 
mapping solver time 29.069732 ms 
--------------------stamp1317358061.368545055
filter time 28.812401 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 33.826864 ms *************
publication time 10.152588 ms 
whole laserOdometry time 10.170404 ms 
 
-----t: 0.060664
OdomCount 2882 & avg odom time 0.046692 ms ++++++++++++++++++++++
--------------------stamp1317358061.472371101
prepare time 11.468858 
sort q time 6.538001 
seperate points time 15.388470 
publication time 11.106179 ms 
whole laserOdometry time 11.121074 ms 
 
1317358061.472371101 WriteOdom laser_odom_to_init
--------------------stamp1317358061.576193094
prepare time 11.322066 
sort q time 6.391905 
seperate points time 14.796597 
publication time 9.786674 ms 
whole laserOdometry time 9.801661 ms 
 
1317358061.576193094 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 29.752494 ms 
mapping optimization time 269.647304 
add points time 1.839602 ms
--------------------stamp1317358061.680015087
prepare time 12.560038 
sort q time 6.940962 
seperate points time 13.953551 
publication time 11.539440 ms 
whole laserOdometry time 11.567054 ms 
 
-----t: 0.0508437
OdomCount 2885 & avg odom time 0.046696 ms ++++++++++++++++++++++
--------------------stamp1317358061.783838033
points size 102608 
sort q time 6.263560 
seperate points time 14.310152 
publication time 11.710553 ms 
whole laserOdometry time 11.720454 ms 
 
-----t: 0.0474101
OdomCount 2886 & avg odom time 0.046697 ms ++++++++++++++++++++++
--------------------stamp1317358061.887659072
prepare time 12.884295 
sort q time 7.564863 
seperate points time 16.246629 
scan registration time 34.818583 ms *************
mapping data assosiation time 54.015372 ms 
-----t: 0.0698491
OdomCount 2887 & avg odom time 0.046705 ms ++++++++++++++++++++++
mapping optimization time 274.107904 
points size 103678 
sort q time 6.379159 
seperate points time 16.022029 
scan registration time 33.689331 ms *************
mapping pub time 23.266970 ms 
whole mapping time 327.078849 ms +++++
mappingCount 1846 & avg mapping time 158.242864 ms ++++++++++++++++++++++
-----t: 0.0678188
OdomCount 2888 & avg odom time 0.046712 ms ++++++++++++++++++++++
1317358061.991485118 WriteOdom laser_odom_to_init
1317358061.991485118 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358062.095308065
points size 103947 
prepare time 14.112722 
sort q time 8.134399 
seperate points time 16.117134 
publication time 18.209829 ms 
whole laserOdometry time 18.221382 ms 
 
mapping data assosiation time 64.772667 ms 
--------------------stamp1317358062.199131011
prepare time 12.070223 
mapping solver time 54.005718 ms 
publication time 15.881791 ms mapping data assosiation time 50.857163 ms 
--------------------stamp1317358062.302978992
prepare time 12.203555 
add points time 1.903760 ms
publication time 12.991442 ms 
whole laserOdometry time 13.010272 ms 
 
filter time 30.978499 ms 
mapping pub time 2.695534 ms 
whole mapping time 328.390809 ms +++++
mappingCount 1847 & avg mapping time 158.334991 ms ++++++++++++++++++++++
1317358061.680015087 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: 0.0642836
OdomCount 2891 & avg odom time 0.046734 ms ++++++++++++++++++++++
--------------------stamp1317358062.406850099
sort q time 7.883341 
seperate points time 15.648743 
scan registration time 30.566722 ms *************
mapping data assosiation time 49.279125 ms 
points size 103679 
sort q time 6.505257 
seperate points time 15.416787 
publication time 12.621733 ms 
whole laserOdometry time 12.641209 ms 
 
--------------------stamp1317358062.614662885prepare time 13.376571 
sort q time 6.554761 
seperate points time 13.478217 
publication time 13.881344 ms 
whole laserOdometry time 13.895341 ms 
 
mapping optimization time 329.383528 
--------------------stamp1317358062.718580007
mapping pub time 2.439198 ms 
whole mapping time 364.764423 ms +++++
mappingCount 1848 & avg mapping time 158.446696 ms ++++++++++++++++++++++
sort q time 6.660402 
seperate points time 16.445753 
-----t: 0.0629716
OdomCount 2895 & avg odom time 0.046777 ms ++++++++++++++++++++++
--------------------stamp1317358062.822521924
points size 103572 
prepare time 14.598064 
sort q time 6.459034 
seperate points time 15.919037 
publication time 10.138184 ms 
whole laserOdometry time 10.170714 ms 
 
mapping data assosiation time 55.571497 ms 
--------------------stamp1317358062.926487922
points size 103486 
sort q time 6.765182 
seperate points time 14.679566 
scan registration time 33.201697 ms *************
-----t: 0.0632244
OdomCount 2897 & avg odom time 0.046785 ms ++++++++++++++++++++++
mapping solver time 43.080944 ms 
points size 103333 
sort q time 6.622791 
seperate points time 14.627048 
map prepare time 6.712072 ms
map corner num 276850  surf num 134922 
-----t: 0.0619782
OdomCount 2898 & avg odom time 0.046790 ms ++++++++++++++++++++++
--------------------stamp1317358063.134351015
points size 103066 
build tree time 78.192819 ms 
publication time 13.625072 ms 
whole laserOdometry time 13.642917 ms 
 
mapping data assosiation time 64.005889 ms 
--------------------stamp1317358063.238292932

sort q time 7.255612 
seperate points time 15.687528 
publication time 9.067301 ms 
whole laserOdometry time 9.084274 ms 
 
-----t: 0.0568122
OdomCount 2900 & avg odom time 0.046811 ms ++++++++++++++++++++++
mapping data assosiation time 55.423906 ms 
--------------------stamp1317358063.342236042
points size 102310 
mapping optimization time 289.588299 
filter time 28.676179 ms 
--------------------stamp1317358063.446192979
points size 101879 
sort q time 6.158063 
seperate points time 14.286987 
publication time 12.837913 ms 
whole laserOdometry time 12.852840 ms 
 
-----t: 0.066584
OdomCount 2902 & avg odom time 0.046818 ms ++++++++++++++++++++++
--------------------stamp1317358063.550159931
prepare time 11.879868 
sort q time 6.322176 
seperate points time 14.909754 
publication time 11.951091 ms 
whole laserOdometry time 11.993081 ms 
 
mapping data assosiation time 47.800649 ms 
--------------------stamp1317358063.654109954
prepare time 11.234715 
mapping solver time 37.698293 ms 
mapping optimization time 265.703799 
add points time 1.916753 ms
filter time 30.627305 ms 
1317358063.030431032 WriteOdom aft_mapped_to_init
--------------------stamp1317358063.758076906
points size 101451 
sort q time 5.948277 
seperate points time 14.777610 
-----t: 0.0437355
OdomCount 2905 & avg odom time 0.046821 ms ++++++++++++++++++++++
mapping data assosiation time 48.339040 ms 
--------------------stamp1317358063.862045049
prepare time 11.464306 
sort q time 7.386017 
seperate points time 16.731891 
publication time 13.201093 ms 
whole laserOdometry time 13.213891 ms 
 
1317358063.862045049 WriteOdom laser_odom_to_init
1317358063.862045049 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 48.783739 ms 
--------------------stamp1317358063.966012954
prepare time 13.041841 
mapping solver time 28.021411 ms 
sort q time 7.620054 
seperate points time 15.987298 
filter time 30.554069 ms 
drop lidar frame in mapping for real time performance 
-----t: 0.0518726
OdomCount 2907 & avg odom time 0.046826 ms ++++++++++++++++++++++
--------------------stamp1317358064.070003032
points size 101852 
sort q time 6.306585 
seperate points time 14.813708 
publication time 14.046999 ms 
whole laserOdometry time 14.063274 ms 
 
mapping data assosiation time 51.486584 ms 
points size 101663 
mapping solver time 43.226795 ms 
publication time 12.120690 ms 
whole laserOdometry time 12.142595 ms 
 
[0m[ INFO] [1718890147.133753915, 1317358064.233437903]: Received 416542 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890147.133825376, 1317358064.233437903]: Data saved to 1317358063030431.pcd[0m
--------------------stamp1317358064.277981996
add points time 1.774153 ms
prepare time 11.653069 
sort q time 6.796431 
seperate points time 22.430493 
map prepare time 6.751654 ms
map corner num 282920  surf num 137967 
-----t: 0.0483445
OdomCount 2910 & avg odom time 0.046846 ms ++++++++++++++++++++++
--------------------stamp1317358064.381952047
points size 101142 
build tree time 76.828219 ms 
publication time 10.151997 ms 
whole laserOdometry time 10.166723 ms 
 
-----t: 0.0555577
OdomCount 2911 & avg odom time 0.046849 ms ++++++++++++++++++++++
1317358064.381952047 WriteOdom laser_odom_to_init
1317358064.381952047 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 51.734289 ms 
--------------------stamp1317358064.485893011
prepare time 12.845580 
sort q time 6.218099 
seperate points time 12.686755 
publication time 13.466528 ms 
whole laserOdometry time 13.479343 ms 
 
-----t: 0.0646638
OdomCount 2912 & avg odom time 0.046855 ms ++++++++++++++++++++++
mapping solver time 29.483155 ms 
--------------------stamp1317358064.589834928
sort q time 5.691765 
seperate points time 12.520124 
map prepare time 6.654128 ms
map corner num 284216  surf num 138501 
-----t: 0.0529737
OdomCount 2913 & avg odom time 0.046857 ms ++++++++++++++++++++++
--------------------stamp1317358064.693732023
prepare time 13.943821 
build tree time 78.585880 ms 
publication time 11.020144 ms 
whole laserOdometry time 11.035179 ms 
 
mapping data assosiation time 48.835341 ms 
--------------------stamp1317358064.797626972
points size 101444 
sort q time 5.886536 
seperate points time 13.823185 
-----t: 0.0424524
OdomCount 2915 & avg odom time 0.046856 ms ++++++++++++++++++++++
mapping solver time 33.786690 ms 
points size 101587 
sort q time 6.068865 
seperate points time 14.898082 
map prepare time 6.032497 ms
map corner num 285454  surf num 139056 
publication time 13.563127 ms 
whole laserOdometry time 13.581170 ms 
 
--------------------stamp1317358065.005414962
points size 101618 
prepare time 13.935378 
sort q time 7.178502 
seperate points time 17.375404 
publication time 11.142747 ms 
whole laserOdometry time 11.157803 ms 
 
--------------------stamp1317358065.109308958
prepare time 11.522004 
sort q time 6.120102 
seperate points time 13.856293 
publication time 10.670602 ms 
whole laserOdometry time 10.683337 ms 
 
-----t: 0.054555
OdomCount 2918 & avg odom time 0.046860 ms ++++++++++++++++++++++
mapping solver time 33.414778 ms 
points size 101617 
sort q time 6.654745 
seperate points time 14.566993 
map prepare time 6.207621 ms
map corner num 286664  surf num 139585 
publication time 16.942231 ms 
whole laserOdometry time 16.955234 ms 
 
--------------------stamp1317358065.316956043
points size 101585 
sort q time 5.716628 
seperate points time 13.025953 
publication time 11.452135 ms 
whole laserOdometry time 11.464535 ms 
 
-----t: 0.0716123
OdomCount 2920 & avg odom time 0.046885 ms ++++++++++++++++++++++
points size 101598 
scan registration time 46.088723 ms *************
1317358065.420706987 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 43.925100 ms 
points size 101506 
scan registration time 30.886715 ms *************
filter time 24.250689 ms 
publication time 14.050893 ms 
whole laserOdometry time 14.061970 ms 
 
1317358065.524408102 WriteOdom laser_odom_to_init
1317358065.524408102 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358065.628062963
prepare time 11.090556 
sort q time 6.339345 
seperate points time 14.908289 
-----t: 0.0525233
OdomCount 2923 & avg odom time 0.046892 ms ++++++++++++++++++++++
mapping data assosiation time 47.957319 ms 
--------------------stamp1317358065.731717109
points size 101527 
sort q time 6.477054 
seperate points time 14.878775 
publication time 10.054732 ms 
whole laserOdometry time 10.070718 ms 
 
-----t: 0.0515377
OdomCount 2924 & avg odom time 0.046893 ms ++++++++++++++++++++++
mapping data assosiation time 46.646725 ms 
--------------------stamp1317358065.835421085
prepare time 11.764792 
sort q time 6.709035 
seperate points time 15.131508 
publication time 11.046108 ms 
whole laserOdometry time 11.060461 ms 
 
filter time 27.371952 ms 
map prepare time 5.465390 ms
map corner num 289049  surf num 140686 
--------------------stamp1317358065.939126014
prepare time 11.375964 
sort q time 6.682930 
seperate points time 14.278883 
publication time 10.933957 ms 
whole laserOdometry time 10.950412 ms 
 
-----t: 0.0763499
OdomCount 2926 & avg odom time 0.046906 ms ++++++++++++++++++++++
points size 101244 
sort q time 7.303105 
seperate points time 14.094486 
publication time 9.741432 ms 
whole laserOdometry time 9.753464 ms 
 
-----t: 0.0774668
OdomCount 2927 & avg odom time 0.046916 ms ++++++++++++++++++++++
mapping data assosiation time 48.849349 ms 
prepare time 14.493642 
sort q time 6.423002 
seperate points time 15.501001 
publication time 11.383283 ms 
whole laserOdometry time 11.416772 ms 
 
-----t: 0.0506104
OdomCount 2928 & avg odom time 0.046917 ms ++++++++++++++++++++++
filter time 22.853068 ms 
points size 101268 
sort q time 6.575714 
seperate points time 15.790197 
publication time 13.056804 ms 
whole laserOdometry time 13.070177 ms 
 
-----t: 0.0693226
OdomCount 2929 & avg odom time 0.046925 ms ++++++++++++++++++++++
--------------------stamp1317358066.353887081
points size 101238 
sort q time 6.303885 
seperate points time 15.411420 
publication time 10.119743 ms 
whole laserOdometry time 10.150253 ms 
 
-----t: 0.0545192
OdomCount 2930 & avg odom time 0.046928 ms ++++++++++++++++++++++
mapping solver time 56.552335 ms 
points size 101352 
sort q time 6.321578 
seperate points time 14.567114 
publication time 21.986013 ms -----t: 0.0628846
OdomCount 2931 & avg odom time 0.046933 ms ++++++++++++++++++++++
mapping optimization time 303.346499 
points size 101350 
1317358065.939126015 WriteOdom aft_mapped_to_init
publication time 9.925976 ms 
whole laserOdometry time 9.947366 ms 
 
-----t: 0.0623201
OdomCount 2932 & avg odom time 0.046938 ms ++++++++++++++++++++++
--------------------stamp1317358066.665004968
prepare time 11.691984 
sort q time 7.679787 
seperate points time 14.298904 
publication time 11.125393 ms 
whole laserOdometry time 11.159778 ms 
 
mapping data assosiation time 52.828014 ms 
-----t: 0.0656321
OdomCount 2933 & avg odom time 0.046945 ms ++++++++++++++++++++++
--------------------stamp1317358066.768719911
points size 101344 
sort q time 7.471738 
seperate points time 18.066878 
mapping data assosiation time 54.591020 ms 
mapping solver time 29.784591 ms 
--------------------stamp1317358066.872423887
points size 101297 
prepare time 14.186669 
sort q time 7.008224 
seperate points time 29.829035 
publication time 11.376366 ms 
whole laserOdometry time 11.389305 ms 
 
-----t: 0.0664501
OdomCount 2935 & avg odom time 0.046955 ms ++++++++++++++++++++++
--------------------stamp1317358066.976129055
points size 101298 
sort q time 7.466446 
seperate points time 17.537126 
-----t: 0.0718294
OdomCount 2936 & avg odom time 0.046964 ms ++++++++++++++++++++++
--------------------stamp1317358067.079855918
points size 101191 
sort q time 6.348722 
seperate points time 15.485221 
publication time 16.371183 ms 
whole laserOdometry time 16.383837 ms 
 
mapping data assosiation time 44.941625 ms 
-----t: 0.0817434
OdomCount 2937 & avg odom time 0.046976 ms ++++++++++++++++++++++
points size 101179 
mapping solver time 52.041077 ms 
mapping data assosiation time 53.105397 ms 
-----t: 0.0801144
OdomCount 2938 & avg odom time 0.046987 ms ++++++++++++++++++++++
points size 101117 
sort q time 7.566147 
seperate points time 15.611107 
mapping solver time 59.432428 ms 
filter time 32.940932 ms 
map prepare time 5.617524 ms
map corner num 294053  surf num 143260 
--------------------stamp1317358067.391134023
sort q time 6.634134 
seperate points time 13.332140 
publication time 17.283074 ms 
whole laserOdometry time 17.302439 ms 
 
-----t: 0.0652151
OdomCount 2940 & avg odom time 0.046999 ms ++++++++++++++++++++++
1317358067.391134023 WriteOdom laser_odom_to_init
1317358067.391134023 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358067.494982004
points size 101074 
sort q time 6.194851 
seperate points time 15.388338 
publication time 12.293007 ms 
whole laserOdometry time 12.309076 ms 
 
-----t: 0.066995
OdomCount 2941 & avg odom time 0.047006 ms ++++++++++++++++++++++
--------------------stamp1317358067.598850965
points size 101006 
sort q time 19.023508 
seperate points time 28.414817 
-----t: 0.0494825
OdomCount 2942 & avg odom time 0.047007 ms ++++++++++++++++++++++
1317358067.598850965 WriteOdom laser_odom_to_init
publication time 10.603572 ms 
whole laserOdometry time 10.612437 ms 
 
1317358067.598850965 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 55.338816 ms 
mapping optimization time 292.828302 
add points time 1.544275 ms
filter time 20.851749 ms 
--------------------stamp1317358067.702765941
points size 101104 
sort q time 14.410268 
seperate points time 22.244237 
publication time 10.329989 ms 
whole laserOdometry time 10.348270 ms 
 
-----t: 0.068182
OdomCount 2943 & avg odom time 0.047014 ms ++++++++++++++++++++++
build tree time 92.016365 ms 
--------------------stamp1317358067.806734085
points size 101158 
sort q time 5.956238 
seperate points time 12.695063 
mapping data assosiation time 49.097253 ms 
publication time 10.482379 ms mapping solver time 52.314395 ms 
-----t: 0.0833354
OdomCount 2944 & avg odom time 0.047027 ms ++++++++++++++++++++++
points size 101247 
sort q time 6.275486 
seperate points time 16.049732 
mapping data assosiation time 48.055419 ms 
publication time 11.792242 ms 
whole laserOdometry time 11.806997 ms 
 
-----t: 0.0544517
OdomCount 2945 & avg odom time 0.047029 ms ++++++++++++++++++++++
1317358067.910723924 WriteOdom laser_odom_to_init
1317358067.910723924 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358068.014763116
prepare time 12.990029 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
sort q time 6.577318 
seperate points time 13.219969 
publication time 10.313553 ms 
whole laserOdometry time 10.326064 ms 
 
-----t: 0.0442865
OdomCount 2946 & avg odom time 0.047028 ms ++++++++++++++++++++++
build tree time 78.906078 ms 
points size 101117 
sort q time 5.871917 
seperate points time 13.629463 
-----t: 0.0807651
OdomCount 2947 & avg odom time 0.047040 ms ++++++++++++++++++++++
--------------------stamp1317358068.222794055
prepare time 14.501776 
mapping data assosiation time 45.939010 ms 
mapping solver time 47.773178 ms 
--------------------stamp1317358068.326785087
prepare time 13.206064 
scan registration time 35.845173 ms *************
publication time 11.291517 ms 
whole laserOdometry time 11.305674 ms 
 
build tree time 82.412438 ms 
sort q time 6.647396 
seperate points time 14.991372 
mapping data assosiation time 48.800805 ms 
-----t: 0.0534343
OdomCount 2950 & avg odom time 0.047068 ms ++++++++++++++++++++++
mapping solver time 48.968094 ms 
--------------------stamp1317358068.534887075
prepare time 12.929173 
sort q time 5.821349 
seperate points time 13.318253 
publication time 9.066379 ms 
whole laserOdometry time 9.079969 ms 
 
-----t: 0.0455003
OdomCount 2951 & avg odom time 0.047068 ms ++++++++++++++++++++++
mapping solver time 51.605090 ms 
--------------------stamp1317358068.638950109
points size 100763 
filter time 27.003809 ms 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
map prepare time 5.654400 ms
map corner num 298893  surf num 145768 
scan registration time 51.048281 ms *************
publication time 12.426656 ms 
whole laserOdometry time 12.441414 ms 
 
--------------------stamp1317358068.743036985
points size 101066 
build tree time 88.571898 ms 
publication time 18.037203 ms 
whole laserOdometry time 18.051909 ms 
 
--------------------stamp1317358068.847172975
prepare time 12.840820 
sort q time 6.243584 
seperate points time 14.037731 
publication time 8.706933 ms 
whole laserOdometry time 8.721005 ms 
 
-----t: 0.0649153
OdomCount 2954 & avg odom time 0.047081 ms ++++++++++++++++++++++
mapping solver time 48.459900 ms 
points size 100804 
filter time 21.593768 ms 
map prepare time 6.459970 ms
map corner num 299992  surf num 146259 
-----t: 0.0554895
OdomCount 2955 & avg odom time 0.047084 ms ++++++++++++++++++++++
--------------------stamp1317358069.055344104
prepare time 11.314670 
sort q time 6.664886 
seperate points time 13.763278 
publication time 8.581977 ms 
whole laserOdometry time 8.593388 ms 
 
-----t: 0.0579791
OdomCount 2956 & avg odom time 0.047088 ms ++++++++++++++++++++++
mapping solver time 40.975956 ms 
--------------------stamp1317358069.159404993
points size 100379 
scan registration time 38.237239 ms *************
publication time 8.215623 ms 
whole laserOdometry time 8.227558 ms 
 
mapping solver time 35.826707 ms 
filter time 23.095096 ms 
map prepare time 6.069761 ms
map corner num 301222  surf num 146797 
publication time 9.949598 ms 
whole laserOdometry time 9.964265 ms 
 
-----t: 0.0452433
OdomCount 2958 & avg odom time 0.047089 ms ++++++++++++++++++++++
build tree time 83.226055 ms 
--------------------stamp1317358069.367508888
prepare time 10.897686 
sort q time 5.546323 
seperate points time 12.888807 
scan registration time 29.699738 ms *************
publication time 11.067553 ms 
whole laserOdometry time 11.080029 ms 
 
-----t: 0.0605699
OdomCount 2959 & avg odom time 0.047094 ms ++++++++++++++++++++++
1317358069.367508888 WriteOdom laser_odom_to_init
1317358069.367508888 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 48.686838 ms 
--------------------stamp1317358069.471616029
points size 99021 
mapping data assosiation time 38.937995 ms 
publication time 8.481483 ms 
whole laserOdometry time 8.510556 ms 
 
mapping solver time 39.696379 ms 
-----t: 0.0659497
OdomCount 2960 & avg odom time 0.047100 ms ++++++++++++++++++++++
1317358069.471616029 WriteOdom laser_odom_to_init
1317358069.471616029 WriteOdom aft_mapped_to_init_high_frec
filter time 20.848591 ms 
mapping pub time 2.181186 ms 
whole mapping time 288.561392 ms +++++
mappingCount 1869 & avg mapping time 160.277446 ms ++++++++++++++++++++++
1317358068.951281071 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358069.575705051
prepare time 13.241619 
sort q time 5.352447 
seperate points time 11.408463 
publication time 10.510717 ms 
whole laserOdometry time 10.525092 ms 
 
build tree time 85.329817 ms 
-----t: 0.0704888
OdomCount 2961 & avg odom time 0.047108 ms ++++++++++++++++++++++
--------------------stamp1317358069.679817914
points size 100037 
sort q time 6.288123 
seperate points time 12.390884 
scan registration time 27.756798 ms *************
mapping solver time 47.524860 ms 
-----t: 0.0546415
OdomCount 2962 & avg odom time 0.047111 ms ++++++++++++++++++++++
mapping data assosiation time 36.943844 ms 
points size 100706 
sort q time 5.891500 
seperate points time 14.408543 
publication time 10.270077 ms 
whole laserOdometry time 10.284731 ms 
 
filter time 27.374037 ms 
--------------------stamp1317358069.888135910
points size 101284 
build tree time 56.036047 ms 
sort q time 5.908497 
seperate points time 14.290804 
scan registration time 35.230648 ms *************
publication time 8.278434 ms 
whole laserOdometry time 8.293860 ms 
 
mapping data assosiation time 41.226613 ms 
-----t: 0.0755116
OdomCount 2964 & avg odom time 0.047124 ms ++++++++++++++++++++++
--------------------stamp1317358069.992291927
sort q time 5.781721 
seperate points time 13.417544 
mapping data assosiation time 39.922487 ms 
mapping solver time 31.738623 ms 
filter time 15.873101 ms 
mapping pub time 14.708300 ms 
whole mapping time 250.763148 ms +++++
mappingCount 1871 & avg mapping time 160.397064 ms ++++++++++++++++++++++
sort q time 6.692966 
seperate points time 13.130654 
publication time 8.622861 ms 
whole laserOdometry time 8.637600 ms 
 
build tree time 59.261394 ms 
--------------------stamp1317358070.200609922
prepare time 14.425993 
sort q time 5.992190 
seperate points time 14.122856 
scan registration time 35.464198 ms *************
mapping solver time 40.946238 ms 
mapping data assosiation time 32.280480 ms 
--------------------stamp1317358070.304790973
prepare time 13.166170 
mapping solver time 42.439928 ms 
filter time 20.291379 ms 
-----t: 0.0749073
OdomCount 2968 & avg odom time 0.047129 ms ++++++++++++++++++++++
--------------------stamp1317358070.408973932
points size 101038 
sort q time 6.756229 
seperate points time 16.237315 
-----t: 0.0423203
OdomCount 2969 & avg odom time 0.047127 ms ++++++++++++++++++++++
mapping solver time 37.258449 ms 
--------------------stamp1317358070.513151884
points size 100933 
prepare time 25.955692 
sort q time 5.610608 
seperate points time 13.608706 
-----t: 0.0483663
OdomCount 2970 & avg odom time 0.047128 ms ++++++++++++++++++++++
1317358070.513151884 WriteOdom laser_odom_to_init
1317358070.513151884 WriteOdom aft_mapped_to_init_high_frec
filter time 14.567902 ms 
map prepare time 3.652836 ms
map corner num 210338  surf num 100771 
points size 100619 
sort q time 5.788682 
seperate points time 13.828406 
publication time 9.289707 ms 
whole laserOdometry time 9.304921 ms 
 
mapping data assosiation time 32.710069 ms 
--------------------stamp1317358070.721546888
prepare time 13.688905 
sort q time 6.323806 
seperate points time 14.710026 
mapping data assosiation time 37.687434 ms 
mapping solver time 33.305202 ms 
--------------------stamp1317358070.825681924
mapping pub time 2.287625 ms 
whole mapping time 232.572747 ms +++++
mappingCount 1874 & avg mapping time 160.525805 ms ++++++++++++++++++++++
sort q time 5.844844 
seperate points time 13.787836 
publication time 6.310772 ms 
whole laserOdometry time 6.325957 ms 
 
-----t: 0.0411977
OdomCount 2973 & avg odom time 0.047137 ms ++++++++++++++++++++++
1317358070.825681924 WriteOdom laser_odom_to_init
1317358070.825681924 WriteOdom aft_mapped_to_init_high_frec
build tree time 56.640213 ms 
--------------------stamp1317358070.929816961
sort q time 6.008438 
seperate points time 12.375882 
scan registration time 28.007664 ms *************
mapping solver time 39.276393 ms 
mapping data assosiation time 32.322121 ms 
--------------------stamp1317358071.033927917
filter time 17.234851 ms 
sort q time 5.248238 
seperate points time 12.141574 
mapping pub time 2.353634 ms 
whole mapping time 219.095669 ms +++++
mappingCount 1875 & avg mapping time 160.557044 ms ++++++++++++++++++++++
1317358070.617358923 WriteOdom aft_mapped_to_init
-----t: 0.0356325
OdomCount 2975 & avg odom time 0.047130 ms ++++++++++++++++++++++
build tree time 52.317769 ms 
--------------------stamp1317358071.137990951
prepare time 9.277415 
sort q time 5.806467 
seperate points time 13.517076 
mapping solver time 32.526033 ms 
mapping data assosiation time 30.380058 ms 
mapping solver time 21.451751 ms 
points size 94823 
mapping pub time 7.228609 ms 
whole mapping time 199.784676 ms +++++
mappingCount 1876 & avg mapping time 160.577958 ms ++++++++++++++++++++++
publication time 7.756428 ms 
whole laserOdometry time 7.772654 ms 
 
-----t: 0.0457177
OdomCount 2977 & avg odom time 0.047127 ms ++++++++++++++++++++++
build tree time 56.350950 ms 
--------------------stamp1317358071.346040964
prepare time 10.618034 
sort q time 5.835863 
seperate points time 12.682153 
mapping solver time 30.963955 ms 
mapping data assosiation time 30.605803 ms 
mapping solver time 21.549830 ms 
points size 94801 
map prepare time 3.565502 ms
map corner num 214012  surf num 102115 
sort q time 6.610517 
seperate points time 27.541400 
publication time 7.407904 ms 
whole laserOdometry time 7.422178 ms 
 
-----t: 0.0547065
OdomCount 2979 & avg odom time 0.047126 ms ++++++++++++++++++++++
build tree time 61.498948 ms 
--------------------stamp1317358071.554003000
sort q time 5.340362 
seperate points time 12.316932 
mapping solver time 32.189565 ms 
mapping data assosiation time 32.289228 ms 
mapping solver time 26.116306 ms 
points size 92804 
drop lidar frame in mapping for real time performance 
publication time 7.982354 ms 
whole laserOdometry time 7.995719 ms 
 
-----t: 0.0442984
OdomCount 2981 & avg odom time 0.047121 ms ++++++++++++++++++++++
build tree time 53.308570 ms 
--------------------stamp1317358071.761934995
points size 92853 
sort q time 5.368130 
seperate points time 13.064145 
mapping solver time 39.565463 ms 
-----t: 0.0478176
OdomCount 2982 & avg odom time 0.047122 ms ++++++++++++++++++++++
mapping data assosiation time 31.852240 ms 
--------------------stamp1317358071.865901947
points size 93551 
filter time 18.154679 ms 
map prepare time 3.906508 ms
map corner num 215782  surf num 102719 
publication time 9.920418 ms 
whole laserOdometry time 9.934123 ms 
 
-----t: 0.0571353
OdomCount 2983 & avg odom time 0.047125 ms ++++++++++++++++++++++
build tree time 55.794094 ms 
--------------------stamp1317358071.969846010
prepare time 11.814472 
sort q time 5.315660 
seperate points time 12.612194 
publication time 8.812423 ms -----t: 0.0476122
OdomCount 2984 & avg odom time 0.047125 ms ++++++++++++++++++++++
1317358071.969846010 WriteOdom laser_odom_to_init
1317358071.969846010 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 44.982390 ms 
mapping data assosiation time 29.451484 ms 
points size 94275 
mapping solver time 29.784530 ms 
filter time 21.034107 ms 
-----t: 0.0449155
OdomCount 2985 & avg odom time 0.047124 ms ++++++++++++++++++++++
--------------------stamp1317358072.177731037
prepare time 11.476854 
sort q time 5.251357 
seperate points time 12.452199 
mapping data assosiation time 36.234911 ms 
-----t: 0.0429764
OdomCount 2986 & avg odom time 0.047123 ms ++++++++++++++++++++++
1317358072.177731037 WriteOdom laser_odom_to_init
1317358072.177731037 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.654182 ms 
--------------------stamp1317358072.281673908
sort q time 5.449006 
seperate points time 12.622400 
scan registration time 27.007404 ms *************
mapping solver time 31.383375 ms 
mapping optimization time 191.185450 
add points time 1.327300 ms
filter time 19.665227 ms 
--------------------stamp1317358072.385617971
prepare time 10.096288 
sort q time 5.513653 
seperate points time 12.748287 
publication time 8.991264 ms 
whole laserOdometry time 9.004717 ms 
 
mapping pub time 106.644027 ms 
whole mapping time 324.250654 ms +++++
mappingCount 1881 & avg mapping time 160.773876 ms ++++++++++++++++++++++
-----t: 0.0729009
OdomCount 2988 & avg odom time 0.047127 ms ++++++++++++++++++++++
--------------------stamp1317358072.489536046
points size 98168 
sort q time 5.693088 
seperate points time 14.035756 
publication time 10.485667 ms 
whole laserOdometry time 10.501495 ms 
 
mapping data assosiation time 34.881422 ms 
mapping solver time 33.347331 ms 
--------------------stamp1317358072.593430995
points size 99860 
mapping data assosiation time 34.083963 ms 
publication time 6.249967 ms 
whole laserOdometry time 6.263046 ms 
 
mapping optimization time 196.260729 
filter time 14.864053 ms 
--------------------stamp1317358072.697324991
points size 100862 
sort q time 5.903718 
seperate points time 14.049846 
publication time 8.042201 ms 
whole laserOdometry time 8.055744 ms 
 
mapping data assosiation time 33.720806 ms 
-----t: 0.0769575
OdomCount 2991 & avg odom time 0.047134 ms ++++++++++++++++++++++
--------------------stamp1317358072.801244020
prepare time 13.256287 
sort q time 5.826599 
seperate points time 13.910189 
publication time 8.240638 ms 
whole laserOdometry time 8.254357 ms 
 
-----t: 0.0547971
OdomCount 2992 & avg odom time 0.047136 ms ++++++++++++++++++++++
filter time 14.170251 ms 
--------------------stamp1317358072.905163049
prepare time 13.263497 
sort q time 5.894212 
seperate points time 13.951990 
publication time 7.294092 ms 
whole laserOdometry time 7.309156 ms 
 
mapping data assosiation time 29.289024 ms 
--------------------stamp1317358073.009082078
points size 101749 
sort q time 6.001093 
seperate points time 14.268336 
mapping data assosiation time 36.146415 ms 
-----t: 0.046793
OdomCount 2994 & avg odom time 0.047137 ms ++++++++++++++++++++++
mapping solver time 30.573411 ms 
filter time 16.545456 ms 
points size 101464 
prepare time 13.258674 
scan registration time 31.805016 ms *************
publication time 7.944090 ms 
whole laserOdometry time 7.958254 ms 
 
mapping data assosiation time 30.510777 ms 
--------------------stamp1317358073.216943025
points size 101374 
sort q time 6.009586 
seperate points time 13.571570 
scan registration time 32.218248 ms *************
mapping data assosiation time 33.815891 ms 
mapping solver time 27.741129 ms 
filter time 15.001842 ms 
map prepare time 6.076959 ms
map corner num 215242  surf num 102575 
sort q time 6.929316 
seperate points time 13.671381 
scan registration time 32.151963 ms *************
publication time 6.910771 ms 
whole laserOdometry time 6.934097 ms 
 
-----t: 0.0444441
OdomCount 2997 & avg odom time 0.047132 ms ++++++++++++++++++++++
1317358073.320887088 WriteOdom laser_odom_to_init
1317358073.320887088 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.850889 ms 
points size 101298 
prepare time 10.736675 
mapping solver time 32.420186 ms 
sort q time 7.080284 
seperate points time 14.537565 
publication time 8.231147 ms 
whole laserOdometry time 8.244249 ms 
 
-----t: 0.0600069
OdomCount 2998 & avg odom time 0.047136 ms ++++++++++++++++++++++
mapping solver time 22.729617 ms 
filter time 14.499868 ms 
map prepare time 3.783154 ms
map corner num 216065  surf num 102869 
sort q time 6.657358 
seperate points time 12.817180 
publication time 10.196145 ms 
whole laserOdometry time 10.211258 ms 
 
build tree time 57.389933 ms 
mapping data assosiation time 27.983293 ms 
points size 100809 
sort q time 7.057084 
seperate points time 13.297354 
publication time 10.980678 ms 
whole laserOdometry time 11.060725 ms 
 
mapping data assosiation time 32.174498 ms 
mapping solver time 21.985675 ms 
--------------------stamp1317358073.736584901
prepare time 11.792257 
map prepare time 4.415171 ms
map corner num 216832  surf num 103204 
publication time 8.476251 ms 
whole laserOdometry time 8.488764 ms 
 
build tree time 61.907205 ms 
--------------------stamp1317358073.840553045
points size 99498 
sort q time 5.671349 
seperate points time 12.221890 
mapping solver time 33.339624 ms 
publication time 11.018483 ms 
whole laserOdometry time 11.035368 ms 
 
-----t: 0.0512326
OdomCount 3002 & avg odom time 0.047152 ms ++++++++++++++++++++++
mapping solver time 20.987991 ms 
mapping optimization time 184.923395 
add points time 0.844692 ms
filter time 16.217276 ms 
map prepare time 10.284140 ms
map corner num 217679  surf num 103613 
publication time 7.465307 ms 
whole laserOdometry time 7.477593 ms 
 
-----t: 0.0519983
OdomCount 3003 & avg odom time 0.047153 ms ++++++++++++++++++++++
build tree time 61.110762 ms 
--------------------stamp1317358074.048484086
points size 98516 
sort q time 5.613122 
seperate points time 12.593605 
mapping solver time 40.333442 ms 
-----t: 0.0541593
OdomCount 3004 & avg odom time 0.047156 ms ++++++++++++++++++++++
mapping data assosiation time 32.961732 ms 
--------------------stamp1317358074.152499914
prepare time 12.789577 
map prepare time 3.975070 ms
map corner num 218527  surf num 103967 
publication time 8.550031 ms 
whole laserOdometry time 8.566558 ms 
 
build tree time 57.326384 ms 
--------------------stamp1317358074.256587028
mapping data assosiation time 33.004999 ms 
publication time 7.895365 ms 
whole laserOdometry time 7.907877 ms 
 
mapping solver time 33.918148 ms 
mapping data assosiation time 29.304331 ms 
--------------------stamp1317358074.360743045
mapping solver time 30.022206 ms 
sort q time 5.599036 
seperate points time 12.470307 
map prepare time 5.102911 ms
map corner num 219419  surf num 104272 
-----t: 0.0513699
OdomCount 3007 & avg odom time 0.047154 ms ++++++++++++++++++++++
1317358074.360743045 WriteOdom laser_odom_to_initbuild tree time 55.221879 ms 
points size 98669 
prepare time 11.000854 
mapping data assosiation time 32.461901 ms 
publication time 7.919774 ms 
whole laserOdometry time 7.934180 ms 
 
1317358074.464951038 WriteOdom laser_odom_to_init
mapping data assosiation time 28.967436 ms 
--------------------stamp1317358074.569206953
points size 98911 
mapping optimization time 185.315242 
scan registration time 31.345861 ms *************
mapping pub time 8.558462 ms 
whole mapping time 219.386056 ms +++++
mappingCount 1891 & avg mapping time 161.056178 ms ++++++++++++++++++++++
-----t: 0.0650211
OdomCount 3009 & avg odom time 0.047158 ms ++++++++++++++++++++++
-----t: 0.0472406
OdomCount 3010 & avg odom time 0.047158 ms ++++++++++++++++++++++
mapping solver time 37.629112 ms 
--------------------stamp1317358074.777858018
points size 99705 
prepare time 15.962136 
mapping data assosiation time 33.228386 ms 
sort q time 5.640791 
seperate points time 13.059190 
mapping solver time 32.546181 ms 
publication time 13.251139 ms 
whole laserOdometry time 13.263282 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358074.882258892
points size 99717 
prepare time 14.231533 
sort q time 5.917192 
seperate points time 13.577935 
publication time 10.705350 ms 
whole laserOdometry time 10.749372 ms 
 
-----t: 0.0666933
OdomCount 3012 & avg odom time 0.047179 ms ++++++++++++++++++++++
--------------------stamp1317358074.986659049
points size 99785 
prepare time 13.386303 
scan registration time 33.159463 ms *************
-----t: 0.0508114
OdomCount 3013 & avg odom time 0.047180 ms ++++++++++++++++++++++
1317358074.986659049 WriteOdom laser_odom_to_init
1317358074.986659049 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 38.231758 ms 
filter time 14.740414 ms 
map prepare time 3.851479 ms
map corner num 222282  surf num 105326 
points size 99985 
prepare time 13.491231 
scan registration time 32.498586 ms *************
-----t: 0.043771
OdomCount 3014 & avg odom time 0.047179 ms ++++++++++++++++++++++
mapping data assosiation time 27.847582 ms 
points size 100488 
mapping solver time 40.513441 ms 
sort q time 6.216061 
seperate points time 21.572669 
mapping data assosiation time 33.539640 ms 
-----t: 0.0551291
OdomCount 3015 & avg odom time 0.047182 ms ++++++++++++++++++++++
mapping solver time 35.422666 ms 
--------------------stamp1317358075.299782991
mapping pub time 2.202742 ms 
whole mapping time 226.912553 ms +++++
mappingCount 1894 & avg mapping time 161.161856 ms ++++++++++++++++++++++
sort q time 6.079021 
seperate points time 14.337103 
publication time 8.713240 ms 
whole laserOdometry time 8.726797 ms 
 
-----t: 0.0586246
OdomCount 3016 & avg odom time 0.047186 ms ++++++++++++++++++++++
--------------------stamp1317358075.404131889
prepare time 12.728444 
sort q time 6.632413 
seperate points time 12.583971 
publication time 9.067566 ms 
whole laserOdometry time 9.078868 ms 
 
-----t: 0.0591498
OdomCount 3017 & avg odom time 0.047190 ms ++++++++++++++++++++++
mapping data assosiation time 30.886245 ms 
--------------------stamp1317358075.508457899
points size 100783 
mapping solver time 36.951736 ms 
filter time 20.640892 ms 
-----t: 0.0491392
OdomCount 3018 & avg odom time 0.047190 ms ++++++++++++++++++++++
1317358075.508457899 WriteOdom laser_odom_to_init
1317358075.508457899 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358075.612760066
prepare time 11.322229 
sort q time 6.165161 
seperate points time 12.891048 
mapping data assosiation time 35.324571 ms 
-----t: 0.0460387
OdomCount 3019 & avg odom time 0.047190 ms ++++++++++++++++++++++
1317358075.612760066 WriteOdom laser_odom_to_init
1317358075.612760066 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.887518 ms 
--------------------stamp1317358075.717036962
prepare time 11.150510 
sort q time 6.315379 
seperate points time 13.045398 
publication time 7.873237 ms 
whole laserOdometry time 7.889700 ms 
 
mapping solver time 42.639862 ms 
-----t: 0.0503876
OdomCount 3020 & avg odom time 0.047191 ms ++++++++++++++++++++++
mapping pub time 6.910963 ms 
whole mapping time 237.266883 ms +++++
mappingCount 1896 & avg mapping time 161.242921 ms ++++++++++++++++++++++
--------------------stamp1317358075.821269035
prepare time 11.666488 
sort q time 6.302891 
seperate points time 12.294732 
build tree time 58.517058 ms 
publication time 12.645134 ms 
whole laserOdometry time 12.657304 ms 
 
-----t: 0.0565071
OdomCount 3021 & avg odom time 0.047194 ms ++++++++++++++++++++++
mapping data assosiation time 36.810012 ms 
--------------------stamp1317358075.925452947
points size 101252 
sort q time 6.183562 
seperate points time 13.209753 
mapping data assosiation time 35.590768 ms 
-----t: 0.043964
OdomCount 3022 & avg odom time 0.047193 ms ++++++++++++++++++++++
1317358075.925452947 WriteOdom laser_odom_to_init
1317358075.925452947 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.084922 ms 
mapping optimization time 201.818605 
add points time 0.920475 ms
filter time 14.996275 ms 
map prepare time 6.227702 ms
map corner num 226184  surf num 106713 
sort q time 6.126245 
seperate points time 14.848362 
publication time 8.007484 ms 
whole laserOdometry time 8.022885 ms 
 
build tree time 65.671354 ms 
-----t: 0.0693127
OdomCount 3023 & avg odom time 0.047200 ms ++++++++++++++++++++++
mapping data assosiation time 33.389004 ms 
points size 101291 
prepare time 13.550157 
mapping solver time 46.669387 ms 
-----t: 0.0618763
OdomCount 3024 & avg odom time 0.047205 ms ++++++++++++++++++++++
--------------------stamp1317358076.237883090
prepare time 11.286736 
sort q time 5.543441 
seperate points time 13.092950 
scan registration time 43.717255 ms *************
publication time 10.029925 ms 
whole laserOdometry time 10.044128 ms 
 
-----t: 0.0550582
build tree time 58.802394 ms 
--------------------stamp1317358076.341922044
prepare time 12.284047 
mapping data assosiation time 34.599024 ms 
publication time 8.367066 ms 
whole laserOdometry time 8.381143 ms 
 
mapping solver time 44.760257 ms 
1317358076.341922044 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.469375 ms 
prepare time 11.728651 
add points time 0.915254 ms
publication time 10.109615 ms 
whole laserOdometry time 10.124175 ms 
 
-----t: 0.0523261
OdomCount 3027 & avg odom time 0.047214 ms ++++++++++++++++++++++
--------------------stamp1317358076.549853086
points size 101092 
build tree time 53.849964 ms 
scan registration time 32.004316 ms *************
publication time 8.252210 ms 
whole laserOdometry time 8.265882 ms 
 
-----t: 0.0559034
OdomCount 3028 & avg odom time 0.047217 ms ++++++++++++++++++++++
mapping solver time 39.547678 ms 
--------------------stamp1317358076.653749942
mapping data assosiation time 31.810558 ms 
publication time 8.445052 ms 
whole laserOdometry time 8.457847 ms 
 
filter time 20.913027 ms 
-----t: 0.0693353
OdomCount 3029 & avg odom time 0.047225 ms ++++++++++++++++++++++
--------------------stamp1317358076.757646083
prepare time 12.744818 
sort q time 5.764275 
seperate points time 12.869763 
publication time 9.321363 ms 
whole laserOdometry time 9.350131 ms 
 
-----t: 0.0533124
OdomCount 3030 & avg odom time 0.047227 ms ++++++++++++++++++++++
1317358076.757646083 WriteOdom laser_odom_to_init
1317358076.757646083 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.634074 ms 
--------------------stamp1317358076.861563920
prepare time 12.656502 
sort q time 6.132070 
seperate points time 13.010342 
publication time 7.613539 ms 
whole laserOdometry time 7.629656 ms 
 
mapping solver time 36.910486 ms 
mapping optimization time 199.972526 
add points time 0.876459 ms
filter time 16.084873 ms 
--------------------stamp1317358076.965481996
points size 101230 
sort q time 6.908454 
seperate points time 13.111414 
-----t: 0.0492607
OdomCount 3032 & avg odom time 0.047224 ms ++++++++++++++++++++++
mapping pub time 103.443070 ms 
whole mapping time 324.394029 ms +++++
mappingCount 1901 & avg mapping time 161.472759 ms ++++++++++++++++++++++
--------------------stamp1317358077.069400072
sort q time 6.006449 
seperate points time 13.135739 
publication time 10.218305 ms 
whole laserOdometry time 10.232662 ms 
 
mapping data assosiation time 28.139234 ms 
points size 100946 
sort q time 14.500228 
seperate points time 22.412492 
mapping data assosiation time 33.733252 ms 
publication time 8.989333 ms 
whole laserOdometry time 9.004993 ms 
 
mapping solver time 31.783603 ms 
--------------------stamp1317358077.277264118
map prepare time 4.871608 ms
map corner num 230252  surf num 108378 
sort q time 5.810837 
seperate points time 13.532156 
-----t: 0.0485352
OdomCount 3035 & avg odom time 0.047223 ms ++++++++++++++++++++++
build tree time 64.323349 ms 
--------------------stamp1317358077.381231069
prepare time 11.260084 
sort q time 6.286718 
seperate points time 12.262343 
publication time 13.276676 ms 
whole laserOdometry time 13.287789 ms 
 
mapping data assosiation time 35.081213 ms 
mapping solver time 22.793444 ms 
--------------------stamp1317358077.485196113
points size 101151 
map prepare time 5.829574 ms
map corner num 231003  surf num 108683 
scan registration time 33.006257 ms *************
-----t: 0.0503851
OdomCount 3037 & avg odom time 0.047229 ms ++++++++++++++++++++++
1317358077.485196113 WriteOdom laser_odom_to_init
1317358077.485196113 WriteOdom aft_mapped_to_init_high_frec
publication time 28.330475 ms 
whole laserOdometry time 28.345701 ms 
 
build tree time 63.640100 ms 
--------------------stamp1317358077.589184045
mapping data assosiation time 31.269280 ms 
sort q time 5.864052 
seperate points time 13.676639 
publication time 9.211550 ms 
whole laserOdometry time 9.229656 ms 
 
mapping solver time 46.440115 ms 
mapping data assosiation time 28.799334 ms 
points size 101055 
prepare time 13.651329 
mapping solver time 35.047355 ms 
mapping optimization time 207.951975 
scan registration time 33.676725 ms *************
filter time 20.572568 ms 
mapping pub time 2.362861 ms 
whole mapping time 237.718164 ms +++++
mappingCount 1904 & avg mapping time 161.572168 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
-----t: 0.0518157
OdomCount 3039 & avg odom time 0.047232 ms ++++++++++++++++++++++
--------------------stamp1317358077.797117948
points size 100951 
sort q time 6.736753 
seperate points time 15.602463 
publication time 9.158657 ms 
whole laserOdometry time 9.192198 ms 
 
mapping solver time 37.585575 ms 
--------------------stamp1317358077.901036977
points size 101026 
sort q time 5.675556 
seperate points time 13.783359 
filter time 16.634612 ms 
--------------------stamp1317358078.004956007
points size 100989 
sort q time 6.453932 
seperate points time 15.560642 
mapping data assosiation time 33.705557 ms 
mapping solver time 36.455239 ms 
--------------------stamp1317358078.108875036
mapping data assosiation time 31.652642 ms 
scan registration time 27.722901 ms *************
mapping solver time 25.117306 ms 
mapping optimization time 187.662707 
filter time 21.527953 ms 
drop lidar frame in mapping for real time performance 
points size 100129 
sort q time 5.801320 
seperate points time 13.425169 
build tree time 67.729497 ms 
-----t: 0.0491765
OdomCount 3044 & avg odom time 0.047238 ms ++++++++++++++++++++++
1317358078.212769985 WriteOdom laser_odom_to_init
1317358078.212769985 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 32.538127 ms 
--------------------stamp1317358078.316641092
points size 99528 
mapping data assosiation time 36.431971 ms 
1317358078.316641092 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.021844 ms 
filter time 17.262518 ms 
map prepare time 4.900540 ms
map corner num 233443  surf num 109464 
sort q time 5.704817 
seperate points time 13.724112 
-----t: 0.0462106
OdomCount 3046 & avg odom time 0.047235 ms ++++++++++++++++++++++
1317358078.420535087 WriteOdom laser_odom_to_init
1317358078.420535087 WriteOdom aft_mapped_to_init_high_frec
build tree time 73.860920 ms 
mapping data assosiation time 31.399468 ms 
points size 98403 
mapping solver time 38.668866 ms 
publication time 8.930629 ms 
whole laserOdometry time 8.959162 ms 
 
-----t: 0.0552996
OdomCount 3047 & avg odom time 0.047238 ms ++++++++++++++++++++++
mapping solver time 27.584905 ms 
points size 98049 
sort q time 5.529376 
seperate points time 24.208776 
scan registration time 54.491851 ms *************
-----t: 0.0479299
OdomCount 3048 & avg odom time 0.047238 ms ++++++++++++++++++++++
1317358078.628303050 WriteOdom laser_odom_to_init
1317358078.628303050 WriteOdom aft_mapped_to_init_high_frec
build tree time 64.682607 ms 
points size 97329 
sort q time 5.754208 
seperate points time 12.463228 
publication time 8.555932 ms 
whole laserOdometry time 8.569730 ms 
 
1317358078.732171058 WriteOdom laser_odom_to_init
1317358078.732171058 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 34.970558 ms 
mapping data assosiation time 28.921886 ms 
--------------------stamp1317358078.836016893
points size 96418 
prepare time 9.667163 
mapping solver time 23.637733 ms 
scan registration time 28.407625 ms *************
1317358078.420535088 WriteOdom aft_mapped_to_init
publication time 8.589261 ms 
whole laserOdometry time 8.603618 ms 
 
--------------------stamp1317358078.939819097
prepare time 11.868715 
sort q time 5.935040 
seperate points time 13.021752 
publication time 7.128789 ms 
whole laserOdometry time 7.141034 ms 
 
mapping solver time 34.800252 ms 
--------------------stamp1317358079.043596982
prepare time 12.467478 
scan registration time 31.183754 ms *************
publication time 9.204976 ms 
whole laserOdometry time 9.218311 ms 
 
mapping pub time 2.323608 ms 
whole mapping time 219.619030 ms +++++
mappingCount 1910 & avg mapping time 161.766271 ms ++++++++++++++++++++++
1317358078.628303051 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0558911
OdomCount 3052 & avg odom time 0.047241 ms ++++++++++++++++++++++
--------------------stamp1317358079.147396087
points size 93426 
build tree time 64.000418 ms 
sort q time 5.564847 
seperate points time 13.666249 
publication time 8.469365 ms 
whole laserOdometry time 8.479234 ms 
 
mapping data assosiation time 37.411298 ms 
mapping solver time 35.419457 ms 
--------------------stamp1317358079.251192092
points size 92816 
prepare time 14.997672 
scan registration time 35.210547 ms *************
-----t: 0.0346275
OdomCount 3054 & avg odom time 0.047237 ms ++++++++++++++++++++++
filter time 15.820454 ms 
[0m[ INFO] [1718890162.231692964, 1317358079.333943946]: Received 345811 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890162.231715981, 1317358079.333943946]: Data saved to 1317358078836016.pcd[0m
--------------------stamp1317358079.354989051
points size 92102 
prepare time 12.264633 
scan registration time 29.756261 ms *************
publication time 8.544549 ms 
whole laserOdometry time 8.561439 ms 
 
build tree time 65.613564 ms 
-----t: 0.047988
OdomCount 3055 & avg odom time 0.047237 ms ++++++++++++++++++++++
mapping data assosiation time 33.239191 ms 
--------------------stamp1317358079.458811998
mapping solver time 37.833289 ms 
publication time 8.299640 ms 
whole laserOdometry time 8.315852 ms 
 
mapping data assosiation time 34.754044 ms 
mapping solver time 31.835458 ms 
mapping optimization time 205.667579 
add points time 0.982838 ms
filter time 16.695854 ms 
sort q time 5.002288 
seperate points time 11.734476 
scan registration time 24.762909 ms *************
publication time 8.275511 ms 
whole laserOdometry time 8.339026 ms 
 
-----t: 0.0410951
OdomCount 3057 & avg odom time 0.047234 ms ++++++++++++++++++++++
build tree time 65.076224 ms 
--------------------stamp1317358079.666460037
points size 90876 
prepare time 12.358844 
sort q time 19.241892 
seperate points time 26.751228 
mapping solver time 49.199172 ms 
mapping data assosiation time 32.249689 ms 
--------------------stamp1317358079.770282030
points size 90634 
sort q time 5.922130 
seperate points time 11.059281 
publication time 8.742105 ms 
whole laserOdometry time 8.816060 ms 
 
map prepare time 4.763998 ms
map corner num 236805  surf num 110558 
build tree time 52.379466 ms 
points size 90322 
sort q time 4.696104 
seperate points time 9.819313 
scan registration time 21.044488 ms *************
publication time 8.820294 ms 
whole laserOdometry time 8.834415 ms 
 
-----t: 0.043401
OdomCount 3060 & avg odom time 0.047232 ms ++++++++++++++++++++++
mapping solver time 39.038753 ms 
mapping data assosiation time 27.921009 ms 
sort q time 5.027717 
seperate points time 10.967062 
scan registration time 22.108703 ms *************
publication time 7.452286 ms 
whole laserOdometry time 7.477373 ms 
 
mapping pub time 2.235840 ms 
whole mapping time 218.909109 ms +++++
mappingCount 1914 & avg mapping time 161.911926 ms ++++++++++++++++++++++
1317358079.562634945 WriteOdom aft_mapped_to_init
-----t: 0.0438639
OdomCount 3061 & avg odom time 0.047231 ms ++++++++++++++++++++++
1317358079.977854013 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317358079.977854013 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358080.081603050
points size 90105 
prepare time 9.926961 
sort q time 6.122485 
seperate points time 12.437014 
scan registration time 24.023807 ms *************
build tree time 65.118817 ms 
publication time 9.080046 ms 
whole laserOdometry time 9.086727 ms 
 
1317358080.081603050 WriteOdom laser_odom_to_init
1317358080.081603050 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 37.112041 ms 
mapping solver time 34.705600 ms 
points size 89859 
scan registration time 20.989553 ms *************
publication time 8.007885 ms 
whole laserOdometry time 8.022598 ms 
 
mapping solver time 27.560360 ms 
mapping optimization time 204.967555 
add points time 0.989420 ms
filter time 24.574750 ms 
mapping pub time 2.151010 ms 
whole mapping time 236.808335 ms +++++
mappingCount 1915 & avg mapping time 161.951039 ms ++++++++++++++++++++++
1317358079.874080896 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 89172 
sort q time 5.549832 
seperate points time 11.035455 
publication time 7.224944 ms 
whole laserOdometry time 7.241481 ms 
 
-----t: 0.0338666
OdomCount 3064 & avg odom time 0.047229 ms ++++++++++++++++++++++
build tree time 72.200452 ms 
mapping data assosiation time 28.066742 ms 
--------------------stamp1317358080.392808914
sort q time 4.993219 
seperate points time 10.148090 
mapping solver time 40.665366 ms 
publication time 8.415242 ms 
whole laserOdometry time 8.431294 ms 
 
mapping data assosiation time 31.793996 ms 
mapping solver time 28.536795 ms 
--------------------stamp1317358080.496583938
sort q time 5.121006 
seperate points time 11.081811 
map prepare time 4.920510 ms
map corner num 238339  surf num 110964 
-----t: 0.0382085
OdomCount 3066 & avg odom time 0.047222 ms ++++++++++++++++++++++
build tree time 58.775910 ms 
points size 85320 
sort q time 4.762991 
seperate points time 10.609503 
publication time 7.354356 ms 
whole laserOdometry time 7.365330 ms 
 
-----t: 0.0386774
OdomCount 3067 & avg odom time 0.047219 ms ++++++++++++++++++++++
mapping solver time 39.930628 ms 
mapping data assosiation time 27.874909 ms 
--------------------stamp1317358080.704159021
add points time 1.402717 ms
publication time 7.838736 ms 
whole laserOdometry time 7.852320 ms 
 
-----t: 0.0361613
OdomCount 3068 & avg odom time 0.047216 ms ++++++++++++++++++++++
--------------------stamp1317358080.807956933
sort q time 5.415943 
seperate points time 10.189866 
mapping data assosiation time 30.893930 ms 
-----t: 0.0341808
OdomCount 3069 & avg odom time 0.047211 ms ++++++++++++++++++++++
mapping solver time 32.251799 ms 
mapping data assosiation time 24.924599 ms 
--------------------stamp1317358080.911756038
points size 83437 
mapping solver time 30.495699 ms 
publication time 6.782048 ms 
whole laserOdometry time 6.797081 ms 
 
drop lidar frame in mapping for real time performance 
-----t: 0.034319
OdomCount 3070 & avg odom time 0.047207 ms ++++++++++++++++++++++
1317358080.911756038 WriteOdom laser_odom_to_init
1317358080.911756038 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358081.015553951
prepare time 9.536953 
mapping data assosiation time 30.456339 ms 
-----t: 0.0422927
OdomCount 3071 & avg odom time 0.047206 ms ++++++++++++++++++++++
mapping data assosiation time 24.011985 ms 
--------------------stamp1317358081.119353055
prepare time 9.627918 
sort q time 4.769896 
seperate points time 11.326109 
filter time 18.900093 ms 
-----t: 0.0439559
OdomCount 3072 & avg odom time 0.047205 ms ++++++++++++++++++++++
build tree time 60.822112 ms 
prepare time 9.305743 
sort q time 4.576028 
seperate points time 10.858739 
publication time 7.088663 ms 
whole laserOdometry time 7.115030 ms 
 
mapping data assosiation time 27.014417 ms 
--------------------stamp1317358081.327075004
mapping solver time 21.587063 ms 
filter time 21.778083 ms 
-----t: 0.033966
OdomCount 3074 & avg odom time 0.047200 ms ++++++++++++++++++++++
1317358081.327075004 WriteOdom laser_odom_to_init
1317358081.327075004 WriteOdom aft_mapped_to_init_high_frec
build tree time 29.398577 ms 
mapping data assosiation time 25.113607 ms 
points size 81180 
sort q time 4.446259 
seperate points time 10.528147 
publication time 7.315541 ms 
-----t: 0.0330246
OdomCount 3075 & avg odom time 0.047195 ms ++++++++++++++++++++++
mapping data assosiation time 27.941555 ms 
mapping solver time 24.703400 ms 
mapping optimization time 145.309118 
add points time 1.268910 ms
--------------------stamp1317358081.534818887
sort q time 4.574441 
seperate points time 9.418094 
publication time 8.150020 ms 
whole laserOdometry time 8.165374 ms 
 
-----t: 0.0379303
OdomCount 3076 & avg odom time 0.047192 ms ++++++++++++++++++++++
mapping pub time 102.248883 ms 
whole mapping time 262.980189 ms +++++
mappingCount 1921 & avg mapping time 162.141991 ms ++++++++++++++++++++++
--------------------stamp1317358081.638714075
sort q time 4.481888 
seperate points time 10.089547 
publication time 7.196346 ms 
whole laserOdometry time 7.208992 ms 
 
mapping data assosiation time 29.545340 ms 
mapping solver time 28.606459 ms 
--------------------stamp1317358081.742647886
sort q time 4.505631 
seperate points time 9.466163 
mapping solver time 28.021857 ms 
-----t: 0.0315251
OdomCount 3078 & avg odom time 0.047181 ms ++++++++++++++++++++++
map prepare time 2.490361 ms
map corner num 115464  surf num 56662 
build tree time 27.878563 ms 
--------------------stamp1317358081.846590042
sort q time 4.706279 
seperate points time 9.619985 
mapping solver time 26.993658 ms 
-----t: 0.0354253
OdomCount 3079 & avg odom time 0.047177 ms ++++++++++++++++++++++
mapping data assosiation time 27.523837 ms 
mapping solver time 23.783232 ms 
filter time 8.858463 ms 
map prepare time 2.641885 ms
map corner num 115940  surf num 56774 
points size 82212 
sort q time 4.467197 
seperate points time 10.255325 
scan registration time 19.947083 ms *************
publication time 10.022294 ms 
whole laserOdometry time 10.032615 ms 
 
-----t: 0.029803
OdomCount 3080 & avg odom time 0.047172 ms ++++++++++++++++++++++
1317358081.950532913 WriteOdom laser_odom_to_init
1317358081.950532913 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.637136 ms 
--------------------stamp1317358082.054500102
sort q time 5.234612 
seperate points time 9.632792 
publication time 6.670052 ms 
whole laserOdometry time 6.687212 ms 
 
map prepare time 2.671898 ms
map corner num 116417  surf num 56896 
build tree time 26.655607 ms 
mapping data assosiation time 23.097886 ms 
--------------------stamp1317358082.158490896
points size 83284 
mapping solver time 29.337268 ms 
publication time 6.679325 ms 
whole laserOdometry time 6.691849 ms 
 
mapping data assosiation time 27.647900 ms 
1317358082.158490896 WriteOdom laser_odom_to_init
mapping solver time 23.415754 ms 
filter time 9.007658 ms 
--------------------stamp1317358082.262481927
build tree time 28.247410 ms 
mapping data assosiation time 25.856401 ms 
mapping solver time 26.674186 ms 
mapping data assosiation time 21.518835 ms 
--------------------stamp1317358082.366447925
sort q time 4.888027 
seperate points time 9.540777 
scan registration time 20.192253 ms *************
filter time 10.956924 ms 
mapping pub time 5.545941 ms 
whole mapping time 150.128689 ms +++++
mappingCount 1926 & avg mapping time 162.111131 ms ++++++++++++++++++++++
1317358082.158490896 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718890165.292668727, 1317358082.383691045]: Received 174328 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890165.292724059, 1317358082.383691045]: Data saved to 1317358082158490.pcd[0m
-----t: 0.0270951
OdomCount 3084 & avg odom time 0.047153 ms ++++++++++++++++++++++
publication time 28.507531 ms 
whole laserOdometry time 28.519684 ms 
 
build tree time 34.918732 ms 
mapping data assosiation time 26.675593 ms 
--------------------stamp1317358082.470415115
mapping solver time 26.525416 ms 
publication time 6.512396 ms 
whole laserOdometry time 6.740569 ms 
1317358082.470415115 WriteOdom laser_odom_to_init
1317358082.470415115 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.474546 ms 
mapping optimization time 135.704481 
add points time 1.030550 ms
filter time 13.126204 ms 
--------------------stamp1317358082.574407100
points size 81944 
sort q time 4.415629 
seperate points time 10.348560 
publication time 6.896762 ms 
whole laserOdometry time 6.908556 ms 
 
-----t: 0.0340767
OdomCount 3086 & avg odom time 0.047145 ms ++++++++++++++++++++++
1317358082.574407100 WriteOdom laser_odom_to_init
1317358082.574407100 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.614463 ms 
--------------------stamp1317358082.678397893
sort q time 4.456954 
seperate points time 8.846481 
mapping solver time 26.770035 ms 
filter time 12.779021 ms 
build tree time 34.582755 ms 
--------------------stamp1317358082.782339096
sort q time 7.104006 
seperate points time 13.085216 
publication time 7.042981 ms 
whole laserOdometry time 7.056815 ms 
 
1317358082.782339096 WriteOdom laser_odom_to_init
1317358082.782339096 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.028563 ms 
mapping solver time 26.252153 ms 
mapping optimization time 148.346182 
add points time 0.970361 ms
filter time 13.058926 ms 
sort q time 4.218997 
seperate points time 9.241169 
scan registration time 19.637043 ms *************
-----t: 0.0330493
OdomCount 3089 & avg odom time 0.047133 ms ++++++++++++++++++++++
mapping data assosiation time 25.867223 ms 
mapping solver time 25.999595 ms 
points size 76932 
sort q time 3.921099 
seperate points time 8.926127 
scan registration time 17.862312 ms *************
mapping solver time 18.701155 ms 
filter time 9.121018 ms 
build tree time 26.828029 ms 
--------------------stamp1317358083.094145059
prepare time 9.268030 
sort q time 4.178931 
seperate points time 9.988691 
publication time 6.413502 ms 
whole laserOdometry time 6.426536 ms 
 
mapping data assosiation time 21.991353 ms 
mapping solver time 19.528794 ms 
filter time 10.720302 ms 
map prepare time 2.871410 ms
map corner num 119025  surf num 57469 
points size 77777 
sort q time 4.820224 
seperate points time 9.194140 
publication time 6.997544 ms 
whole laserOdometry time 7.011265 ms 
 
-----t: 0.0367376
OdomCount 3092 & avg odom time 0.047119 ms ++++++++++++++++++++++
mapping solver time 25.137222 ms 
mapping data assosiation time 19.639054 ms 
--------------------stamp1317358083.301911115
mapping solver time 23.434726 ms 
mapping optimization time 126.678544 
add points time 1.244287 ms
sort q time 4.232862 
seperate points time 10.418832 
scan registration time 22.009291 ms *************
map prepare time 3.374078 ms
map corner num 119395  surf num 57531 
publication time 7.759583 ms 
whole laserOdometry time 7.776905 ms 
 
-----t: 0.0366935
OdomCount 3093 & avg odom time 0.047115 ms ++++++++++++++++++++++
1317358083.301911115 WriteOdom laser_odom_to_init
1317358083.301911115 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.004511 ms 
--------------------stamp1317358083.405731916
sort q time 3.818145 
seperate points time 8.286018 
mapping data assosiation time 29.240539 ms 
-----t: 0.0375438
OdomCount 3094 & avg odom time 0.047112 ms ++++++++++++++++++++++
mapping solver time 27.940877 ms 
filter time 8.714260 ms 
--------------------stamp1317358083.509484052
build tree time 28.982536 ms 
points size 79895 
prepare time 7.783717 
sort q time 4.593414 
seperate points time 9.759529 
mapping data assosiation time 24.433248 ms 
publication time 6.652844 ms 
whole laserOdometry time 6.661985 ms 
 
-----t: 0.046162
OdomCount 3095 & avg odom time 0.047112 ms ++++++++++++++++++++++
mapping data assosiation time 22.067901 ms 
mapping solver time 15.116768 ms 
filter time 8.699185 ms 
points size 81807 
--------------------stamp1317358083.716840028
sort q time 4.638793 
seperate points time 11.078517 
mapping solver time 24.773083 ms 
-----t: 0.0296071
OdomCount 3097 & avg odom time 0.047104 ms ++++++++++++++++++++++
map prepare time 3.362061 ms
map corner num 120463  surf num 57833 
build tree time 25.943063 ms 
mapping data assosiation time 20.355036 ms 
points size 82271 
sort q time 4.998932 
seperate points time 10.172917 
scan registration time 19.457960 ms *************
mapping data assosiation time 24.125906 ms 
-----t: 0.0591586
OdomCount 3098 & avg odom time 0.047108 ms ++++++++++++++++++++++
filter time 8.657208 ms 
map prepare time 2.524050 ms
map corner num 120849  surf num 57946 
points size 83620 
sort q time 4.201289 
seperate points time 9.275714 
publication time 8.401741 ms 
whole laserOdometry time 8.413989 ms 
 
-----t: 0.0362194
OdomCount 3099 & avg odom time 0.047104 ms ++++++++++++++++++++++
mapping solver time 23.421486 ms 
mapping data assosiation time 20.218104 ms 
--------------------stamp1317358084.027900934
mapping solver time 21.466016 ms 
map prepare time 2.868782 ms
map corner num 121357  surf num 58113 
-----t: 0.0382472
OdomCount 3100 & avg odom time 0.047101 ms ++++++++++++++++++++++
build tree time 32.026115 ms 
mapping data assosiation time 19.972586 ms 
--------------------stamp1317358084.131724119
sort q time 4.933293 
seperate points time 10.500705 
mapping solver time 28.795017 ms 
--------------------stamp1317358084.235594034
build tree time 32.317808 ms 
publication time 5.898332 ms 
whole laserOdometry time 5.913276 ms 
 
mapping solver time 24.882896 ms 
mapping data assosiation time 22.615159 ms 
--------------------stamp1317358084.339512109
points size 84330 
filter time 13.533725 ms 
publication time 10.243717 ms 
whole laserOdometry time 10.257714 ms 
 
build tree time 30.949862 ms 
-----t: 0.0495897
OdomCount 3103 & avg odom time 0.047105 ms ++++++++++++++++++++++
mapping data assosiation time 22.644312 ms 
--------------------stamp1317358084.443527936
sort q time 6.230423 
seperate points time 13.792243 
mapping data assosiation time 31.373687 ms 
-----t: 0.0444085
OdomCount 3104 & avg odom time 0.047104 ms ++++++++++++++++++++++
filter time 11.424940 ms 
--------------------stamp1317358084.547614097
points size 89275 
sort q time 5.284434 
seperate points time 10.973721 
publication time 7.917399 ms 
whole laserOdometry time 7.931727 ms 
 
-----t: 0.0353977
OdomCount 3105 & avg odom time 0.047100 ms ++++++++++++++++++++++
mapping data assosiation time 19.883732 ms 
mapping solver time 18.769123 ms 
points size 90578 
sort q time 6.007223 
seperate points time 12.889937 
publication time 8.118788 ms 
whole laserOdometry time 8.134766 ms 
 
-----t: 0.0463507
OdomCount 3106 & avg odom time 0.047100 ms ++++++++++++++++++++++
--------------------stamp1317358084.755856990
points size 91445 
mapping pub time 110.069113 ms 
whole mapping time 250.487438 ms +++++
mappingCount 1941 & avg mapping time 162.067032 ms ++++++++++++++++++++++
scan registration time 28.928219 ms *************
publication time 8.677657 ms 
whole laserOdometry time 8.689836 ms 
 
build tree time 34.630036 ms 
mapping data assosiation time 23.154785 ms 
--------------------stamp1317358084.859992980
prepare time 12.360813 
sort q time 4.500468 
seperate points time 10.538508 
scan registration time 26.917159 ms *************
-----t: 0.0396576
OdomCount 3108 & avg odom time 0.047105 ms ++++++++++++++++++++++
1317358084.859992980 WriteOdom laser_odom_to_init
1317358084.859992980 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.925280 ms 
mapping optimization time 135.204728 
add points time 0.874522 ms
drop lidar frame in mapping for real time performance 
build tree time 29.303497 ms 
prepare time 11.000389 
mapping data assosiation time 24.683223 ms 
mapping solver time 26.106341 ms 
mapping data assosiation time 22.373906 ms 
mapping solver time 22.829577 ms 
filter time 11.846738 ms 
sort q time 4.967058 
seperate points time 11.751908 
build tree time 35.750586 ms 
mapping data assosiation time 23.318524 ms 
mapping solver time 21.887915 ms 
points size 94890 
mapping solver time 32.304597 ms 
mapping optimization time 137.239693 
add points time 0.960239 ms
map prepare time 2.937732 ms
map corner num 125757  surf num 60417 
build tree time 27.802171 ms 
--------------------stamp1317358085.276292085
mapping data assosiation time 23.765878 ms 
scan registration time 26.523726 ms *************
mapping solver time 26.776825 ms 
-----t: 0.0458632
OdomCount 3112 & avg odom time 0.047107 ms ++++++++++++++++++++++
mapping solver time 17.798398 ms 
filter time 8.968012 ms 
map prepare time 2.783994 ms
map corner num 126167  surf num 60557 
points size 94017 
sort q time 5.041744 
seperate points time 12.143593 
publication time 9.421548 ms 
whole laserOdometry time 9.437927 ms 
 
mapping data assosiation time 24.303647 ms 
mapping solver time 24.099302 ms 
mapping data assosiation time 19.354804 ms 
points size 91697 
filter time 12.200130 ms 
publication time 9.669258 ms 
whole laserOdometry time 9.682480 ms 
 
-----t: 0.047914
OdomCount 3114 & avg odom time 0.047104 ms ++++++++++++++++++++++
build tree time 31.756525 ms 
mapping data assosiation time 21.676993 ms 
points size 90849 
sort q time 4.981829 
seperate points time 11.944624 
mapping data assosiation time 23.112504 ms 
mapping solver time 16.404439 ms 
filter time 9.198236 ms 
--------------------stamp1317358085.692158937
points size 91035 
mapping data assosiation time 24.487541 ms 
publication time 9.860702 ms 
whole laserOdometry time 9.890196 ms 
 
-----t: 0.0412184
OdomCount 3116 & avg odom time 0.047101 ms ++++++++++++++++++++++
mapping data assosiation time 21.613775 ms 
mapping solver time 13.830419 ms 
filter time 9.724262 ms 
points size 92451 
sort q time 5.183629 
seperate points time 12.626452 
build tree time 35.471042 ms 
publication time 10.578796 ms 
whole laserOdometry time 10.595277 ms 
 
mapping data assosiation time 22.340193 ms 
mapping solver time 20.721475 ms 
--------------------stamp1317358085.899947881
points size 92963 
sort q time 17.975763 
seperate points time 24.913206 
scan registration time 39.465696 ms *************
filter time 12.291916 ms 
build tree time 27.870916 ms 
points size 93979 
sort q time 6.237818 
seperate points time 12.253029 
scan registration time 24.038991 ms *************
publication time 9.079889 ms 
whole laserOdometry time 9.096319 ms 
 
-----t: 0.0410546
OdomCount 3119 & avg odom time 0.047097 ms ++++++++++++++++++++++
1317358086.003844976 WriteOdom laser_odom_to_init
1317358086.003844976 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.378902 ms 
filter time 9.307619 ms 
points size 93030 
build tree time 36.383798 ms 
mapping data assosiation time 22.480393 ms 
mapping solver time 21.163089 ms 
--------------------stamp1317358086.211611032
mapping data assosiation time 21.252644 ms 
points size 91615 
mapping optimization time 123.106627 
filter time 11.974529 ms 
publication time 8.914900 ms 
whole laserOdometry time 8.928999 ms 
 
-----t: 0.0478744
OdomCount 3121 & avg odom time 0.047093 ms ++++++++++++++++++++++
build tree time 33.034080 ms 
mapping data assosiation time 19.855436 ms 
points size 90748 
mapping solver time 24.712339 ms 
mapping data assosiation time 22.146385 ms 
mapping solver time 23.372516 ms 
filter time 9.696056 ms 
mapping pub time 1.994275 ms 
whole mapping time 139.619561 ms +++++
mappingCount 1952 & avg mapping time 161.969068 ms ++++++++++++++++++++++
1317358086.107716084 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358086.419378042
points size 90123 
sort q time 5.578748 
seperate points time 11.984878 
publication time 8.987991 ms 
whole laserOdometry time 9.003518 ms 
 
-----t: 0.046514
OdomCount 3123 & avg odom time 0.047096 ms ++++++++++++++++++++++
mapping data assosiation time 21.618109 ms 
mapping solver time 14.358311 ms 
filter time 10.100988 ms 
sort q time 5.706094 
seperate points time 12.546622 
publication time 12.458629 ms 
whole laserOdometry time 12.473880 ms 
 
mapping data assosiation time 21.512509 ms 
mapping solver time 18.572843 ms 
points size 93142 
prepare time 12.544628 
scan registration time 29.352706 ms *************
mapping solver time 24.627563 ms 
mapping optimization time 131.956318 
add points time 0.838946 ms
drop lidar frame in mapping for real time performance 
build tree time 32.994202 ms 
prepare time 12.069591 
sort q time 5.658296 
seperate points time 13.600221 
mapping solver time 28.574846 ms 
mapping data assosiation time 24.172852 ms 
mapping solver time 13.993195 ms 
filter time 8.884801 ms 
map prepare time 4.755726 ms
map corner num 130183  surf num 61591 
sort q time 5.341628 
seperate points time 12.782338 
publication time 8.560106 ms 
whole laserOdometry time 8.572141 ms 
 
build tree time 40.367129 ms 
mapping data assosiation time 23.687788 ms 
mapping solver time 16.355795 ms 
mapping data assosiation time 19.170942 ms 
points size 90705 
filter time 10.282045 ms 
publication time 8.941914 ms 
whole laserOdometry time 8.961325 ms 
 
build tree time 33.498378 ms 
mapping data assosiation time 19.838818 ms 
--------------------stamp1317358087.042599916
points size 90134 
mapping solver time 21.383692 ms 
sort q time 6.070059 
seperate points time 14.458142 
scan registration time 27.723127 ms *************
mapping solver time 18.765629 ms 
mapping optimization time 120.440767 
add points time 0.851543 ms
filter time 11.304145 ms 
build tree time 27.614003 ms 
points size 90326 
mapping data assosiation time 24.826020 ms 
mapping solver time 24.191205 ms 
-----t: 0.0461522
OdomCount 3130 & avg odom time 0.047088 ms ++++++++++++++++++++++
mapping data assosiation time 25.482340 ms 
mapping solver time 19.682854 ms 
filter time 12.254908 ms 
sort q time 5.339229 
seperate points time 11.996457 
publication time 9.922528 ms 
whole laserOdometry time 9.937392 ms 
 
-----t: 0.0465258
OdomCount 3131 & avg odom time 0.047088 ms ++++++++++++++++++++++
1317358087.250366926 WriteOdom laser_odom_to_init
1317358087.250366926 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.430977 ms 
--------------------stamp1317358087.354283094
points size 92343 
sort q time 15.184298 
seperate points time 23.343388 
filter time 12.364650 ms 
-----t: 0.0597033
OdomCount 3132 & avg odom time 0.047092 ms ++++++++++++++++++++++
build tree time 32.697289 ms 
points size 92859 
sort q time 5.991749 
seperate points time 23.402036 
publication time 11.086134 ms 
whole laserOdometry time 11.099436 ms 
 
mapping solver time 14.059549 ms 
filter time 10.946383 ms 
--------------------stamp1317358087.562073945
points size 92540 
sort q time 5.554812 
seperate points time 13.311184 
publication time 8.092943 ms 
whole laserOdometry time 8.105304 ms 
 
mapping data assosiation time 25.049137 ms 
mapping solver time 19.394125 ms 
mapping data assosiation time 18.509432 ms 
mapping solver time 14.325142 ms 
filter time 11.931214 ms 
publication time 7.519908 ms 
whole laserOdometry time 7.536773 ms 
 
-----t: 0.0482142
OdomCount 3135 & avg odom time 0.047093 ms ++++++++++++++++++++++
--------------------stamp1317358087.769839048
prepare time 12.347844 
map prepare time 3.966765 ms
map corner num 132395  surf num 62393 
publication time 9.006596 ms 
whole laserOdometry time 9.020802 ms 
 
mapping data assosiation time 19.209104 ms 
--------------------stamp1317358087.873734951
sort q time 5.459404 
seperate points time 12.532429 
mapping solver time 18.142750 ms 
filter time 11.771955 ms 
build tree time 29.989165 ms 
--------------------stamp1317358087.977629899
mapping data assosiation time 20.707673 ms 
sort q time 5.448814 
seperate points time 12.525699 
publication time 8.191495 ms 
whole laserOdometry time 8.207038 ms 
 
-----t: 0.0525067
OdomCount 3138 & avg odom time 0.047093 ms ++++++++++++++++++++++
mapping solver time 13.154569 ms 
filter time 9.640769 ms 
map prepare time 3.170606 ms
map corner num 133474  surf num 62997 
sort q time 5.439124 
seperate points time 12.256683 
publication time 8.929372 ms 
whole laserOdometry time 8.940179 ms 
 
mapping data assosiation time 24.591456 ms 
mapping solver time 23.072038 ms 
mapping data assosiation time 19.408462 ms 
points size 88258 
sort q time 5.509842 
seperate points time 12.894726 
1317358087.977629900 WriteOdom aft_mapped_to_init
-----t: 0.0452701
OdomCount 3140 & avg odom time 0.047090 ms ++++++++++++++++++++++
build tree time 35.121190 ms 
mapping data assosiation time 18.998261 ms 
points size 86611 
mapping solver time 23.181939 ms 
publication time 9.904589 ms 
whole laserOdometry time 9.921071 ms 
 
mapping data assosiation time 26.071372 ms 
-----t: 0.0425104
OdomCount 3141 & avg odom time 0.047089 ms ++++++++++++++++++++++
filter time 9.160188 ms 
--------------------stamp1317358088.393352031
build tree time 33.785578 ms 
mapping data assosiation time 21.896078 ms 
mapping solver time 28.470818 ms 
mapping data assosiation time 21.515267 ms 
mapping optimization time 124.921979 
filter time 14.292772 ms 
mapping pub time 11.702241 ms 
whole mapping time 155.574683 ms +++++
mappingCount 1966 & avg mapping time 161.879404 ms ++++++++++++++++++++++
publication time 20.079210 ms 
whole laserOdometry time 20.090949 ms 
 
-----t: 0.0429958
OdomCount 3143 & avg odom time 0.047089 ms ++++++++++++++++++++++
build tree time 35.788981 ms 
mapping data assosiation time 18.620620 ms 
--------------------stamp1317358088.601309061
sort q time 4.274962 
seperate points time 8.904965 
publication time 8.067047 ms 
whole laserOdometry time 8.078686 ms 
 
mapping data assosiation time 26.024600 ms 
mapping solver time 21.866466 ms 
filter time 12.435528 ms 
--------------------stamp1317358088.705300092
scan registration time 20.320374 ms *************
publication time 9.786931 ms 
whole laserOdometry time 9.804929 ms 
 
mapping solver time 24.884821 ms 
mapping data assosiation time 21.278535 ms 
mapping solver time 14.381928 ms 
filter time 9.722806 ms 
sort q time 4.215431 
seperate points time 9.689117 
publication time 7.551099 ms 
whole laserOdometry time 7.567622 ms 
 
-----t: 0.0458949
OdomCount 3146 & avg odom time 0.047087 ms ++++++++++++++++++++++
mapping data assosiation time 23.942305 ms 
mapping solver time 22.981321 ms 
points size 73247 
sort q time 4.537808 
seperate points time 10.751666 
scan registration time 22.112436 ms *************
mapping optimization time 140.823972 
filter time 18.312039 ms 
--------------------stamp1317358089.017247915
sort q time 8.724888 
seperate points time 14.613684 
publication time 9.534738 ms 
whole laserOdometry time 9.543828 ms 
 
mapping data assosiation time 28.525867 ms 
mapping solver time 27.863794 ms 
--------------------stamp1317358089.121216058
sort q time 4.210906 
seperate points time 8.137767 
scan registration time 18.068147 ms *************
-----t: 0.0332292
OdomCount 3149 & avg odom time 0.047082 ms ++++++++++++++++++++++
map prepare time 3.247034 ms
map corner num 137258  surf num 65013 
build tree time 40.267310 ms 
--------------------stamp1317358089.225183963
prepare time 8.600205 
mapping data assosiation time 21.386574 ms 
publication time 6.649714 ms 
whole laserOdometry time 6.662833 ms 
 
mapping data assosiation time 18.720436 ms 
mapping solver time 19.807863 ms 
filter time 11.615098 ms 
--------------------stamp1317358089.329123973
sort q time 4.305659 
seperate points time 8.663488 
scan registration time 17.139083 ms *************
build tree time 40.818861 ms 
mapping data assosiation time 20.437058 ms 
mapping solver time 20.770870 ms 
mapping data assosiation time 20.417280 ms 
points size 66933 
mapping solver time 21.723873 ms 
publication time 5.954149 ms 
whole laserOdometry time 5.980149 ms 
 
filter time 14.728337 ms 
mapping pub time 1.686725 ms 
whole mapping time 146.307480 ms +++++
mappingCount 1972 & avg mapping time 161.858511 ms ++++++++++++++++++++++
1317358089.225183964 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0424244
OdomCount 3152 & avg odom time 0.047069 ms ++++++++++++++++++++++
build tree time 41.778953 ms 
--------------------stamp1317358089.537009000
scan registration time 16.127470 ms *************
mapping solver time 25.468965 ms 
publication time 10.929087 ms 
whole laserOdometry time 10.942368 ms 
 
mapping solver time 20.445608 ms 
mapping optimization time 130.047792 
add points time 0.762415 ms
filter time 14.381789 ms 
--------------------stamp1317358089.640952110
sort q time 3.394995 
seperate points time 7.654629 
build tree time 42.491466 ms 
-----t: 0.0332096
OdomCount 3154 & avg odom time 0.047060 ms ++++++++++++++++++++++
mapping solver time 23.750030 ms 
mapping data assosiation time 19.258531 ms 
--------------------stamp1317358089.744920015
sort q time 3.715655 
seperate points time 7.459993 
mapping pub time 1.677805 ms 
whole mapping time 146.987188 ms +++++
mappingCount 1974 & avg mapping time 161.845016 ms ++++++++++++++++++++++
1317358089.537009001 WriteOdom aft_mapped_to_init
-----t: 0.0339339
OdomCount 3155 & avg odom time 0.047056 ms ++++++++++++++++++++++
build tree time 42.045736 ms 
mapping data assosiation time 19.444589 ms 
--------------------stamp1317358089.848886013
sort q time 4.058814 
seperate points time 7.909084 
publication time 4.530171 ms 
whole laserOdometry time 4.542848 ms 
 
add points time 0.970314 ms
filter time 14.920107 ms 
--------------------stamp1317358089.952877998
sort q time 3.468113 
seperate points time 6.997469 
mapping solver time 20.165262 ms 
mapping data assosiation time 19.601757 ms 
mapping solver time 12.819165 ms 
filter time 9.400752 ms 
map prepare time 2.862080 ms
map corner num 139280  surf num 65577 
--------------------stamp1317358090.056869029
sort q time 3.840796 
seperate points time 7.852331 
publication time 5.605550 ms 
whole laserOdometry time 5.618472 ms 
 
-----t: 0.029645
OdomCount 3158 & avg odom time 0.047043 ms ++++++++++++++++++++++
mapping data assosiation time 19.784867 ms 
mapping solver time 19.843028 ms 
mapping data assosiation time 18.987122 ms 
--------------------stamp1317358090.160811901
sort q time 3.770261 
seperate points time 7.788017 
scan registration time 17.128476 ms *************
filter time 14.531159 ms 
mapping pub time 1.522865 ms 
whole mapping time 137.972250 ms +++++
mappingCount 1977 & avg mapping time 161.806183 ms ++++++++++++++++++++++
1317358089.952877998 WriteOdom aft_mapped_to_init
-----t: 0.0466491
OdomCount 3159 & avg odom time 0.047043 ms ++++++++++++++++++++++
mapping data assosiation time 19.009758 ms 
--------------------stamp1317358090.264755010
sort q time 3.405704 
seperate points time 7.566736 
scan registration time 15.988189 ms *************
mapping solver time 15.217825 ms 
1317358090.264755010 WriteOdom aft_mapped_to_init_high_frec
build tree time 32.295809 ms 
--------------------stamp1317358090.368721008
prepare time 8.084513 
mapping solver time 21.796412 ms 
publication time 7.342332 ms 
whole laserOdometry time 7.355453 ms 
 
-----t: 0.0335011
OdomCount 3161 & avg odom time 0.047034 ms ++++++++++++++++++++++
mapping solver time 16.743701 ms 
filter time 10.029659 ms 
--------------------stamp1317358090.472665071
sort q time 3.281273 
seperate points time 6.991407 
mapping data assosiation time 17.986793 ms 
mapping solver time 21.720294 ms 
mapping data assosiation time 19.272235 ms 
mapping solver time 11.992599 ms 
mapping pub time 1.328754 ms 
whole mapping time 122.987913 ms +++++
mappingCount 1980 & avg mapping time 161.751665 ms ++++++++++++++++++++++
--------------------stamp1317358090.576591968
sort q time 3.500995 
seperate points time 7.746140 
build tree time 41.751543 ms 
mapping data assosiation time 21.359689 ms 
mapping solver time 16.811463 ms 
mapping data assosiation time 15.379543 ms 
mapping solver time 13.143023 ms 
filter time 10.460551 ms 
publication time 7.443655 ms 
whole laserOdometry time 7.467890 ms 
 
-----t: 0.0317199
OdomCount 3164 & avg odom time 0.047024 ms ++++++++++++++++++++++
--------------------stamp1317358090.784420013
map prepare time 2.950182 ms
map corner num 140844  surf num 65972 
publication time 5.941115 ms 
whole laserOdometry time 6.079043 ms 
 
-----t: 0.033136
OdomCount 3165 & avg odom time 0.047020 ms ++++++++++++++++++++++
mapping data assosiation time 15.266664 ms 
mapping solver time 14.669091 ms 
mapping data assosiation time 15.818983 ms 
points size 68788 
sort q time 4.619933 
seperate points time 9.736783 
publication time 6.106982 ms 
whole laserOdometry time 6.121803 ms 
 
-----t: 0.0353448
OdomCount 3166 & avg odom time 0.047016 ms ++++++++++++++++++++++
build tree time 36.624267 ms 
mapping data assosiation time 15.827137 ms 
mapping solver time 16.424805 ms 
points size 70933 
scan registration time 18.123784 ms *************
publication time 8.491169 ms 
whole laserOdometry time 8.504346 ms 
 
filter time 13.895407 ms 
-----t: 0.0411305
OdomCount 3167 & avg odom time 0.047014 ms ++++++++++++++++++++++
build tree time 35.884494 ms 
mapping data assosiation time 16.230400 ms 
points size 73096 
sort q time 4.968731 
seperate points time 9.949669 
publication time 10.755290 ms 
whole laserOdometry time 10.770255 ms 
 
-----t: 0.032864
OdomCount 3168 & avg odom time 0.047010 ms ++++++++++++++++++++++
filter time 10.389091 ms 
build tree time 32.444131 ms 
prepare time 8.997488 
scan registration time 21.564168 ms *************
publication time 7.693960 ms mapping data assosiation time 15.575108 ms 
mapping solver time 15.382293 ms 
mapping optimization time 109.704504 
add points time 0.734140 ms
map prepare time 2.405731 ms
map corner num 142176  surf num 66351 
--------------------stamp1317358091.303917884
scan registration time 19.787935 ms *************
build tree time 36.578098 ms 
publication time 6.559971 ms 
whole laserOdometry time 6.574404 ms 
 
-----t: 0.0555282
OdomCount 3170 & avg odom time 0.047007 ms ++++++++++++++++++++++
mapping data assosiation time 16.433003 ms 
--------------------stamp1317358091.407835960
sort q time 4.117509 
seperate points time 8.486362 
[0m[ INFO] [1718890174.336903248, 1317358091.434091986]: Received 208939 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890174.336938997, 1317358091.434091986]: Data saved to 1317358091199997.pcd[0m
-----t: 0.0344834
OdomCount 3171 & avg odom time 0.047003 ms ++++++++++++++++++++++
build tree time 36.257329 ms 
mapping data assosiation time 16.401309 ms 
--------------------stamp1317358091.511754989
sort q time 4.604746 
seperate points time 8.783708 
publication time 7.612710 ms 
whole laserOdometry time 7.625529 ms 
 
mapping solver time 20.748089 ms 
-----t: 0.0436907
OdomCount 3172 & avg odom time 0.047002 ms ++++++++++++++++++++++
build tree time 32.166021 ms 
points size 73053 
sort q time 4.741418 
seperate points time 9.155283 
mapping solver time 20.473840 ms 
mapping data assosiation time 22.469857 ms 
mapping solver time 16.440653 ms 
filter time 10.077745 ms 
--------------------stamp1317358091.719593048
sort q time 4.467403 
seperate points time 9.075952 
publication time 6.304583 ms 
whole laserOdometry time 6.318530 ms 
 
-----t: 0.0370996
OdomCount 3174 & avg odom time 0.046997 ms ++++++++++++++++++++++
mapping solver time 21.585180 ms 
mapping data assosiation time 16.263205 ms 
mapping solver time 15.989637 ms 
points size 71109 
scan registration time 17.504577 ms *************
publication time 6.693721 ms 
whole laserOdometry time 6.709635 ms 
 
-----t: 0.0387636
OdomCount 3175 & avg odom time 0.046995 ms ++++++++++++++++++++++
mapping data assosiation time 15.724896 ms 
mapping solver time 20.603456 ms 
points size 71070 
sort q time 3.825180 
seperate points time 9.381240 
mapping solver time 20.546409 ms 
filter time 13.909926 ms 
build tree time 30.529560 ms 
mapping data assosiation time 15.500697 ms 
points size 71216 
sort q time 4.654983 
seperate points time 9.255369 
mapping data assosiation time 21.072399 ms 
mapping solver time 14.628351 ms 
filter time 9.923322 ms 
--------------------stamp1317358092.135340929
sort q time 3.948045 
seperate points time 9.563890 
mapping solver time 23.473154 ms 
1317358092.135340929 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.476720 ms 
filter time 11.546801 ms 
points size 71986 
sort q time 4.319638 
seperate points time 11.728727 
publication time 10.630665 ms 
whole laserOdometry time 10.672433 ms 
 
mapping data assosiation time 16.622723 ms 
mapping solver time 19.719469 ms 
mapping data assosiation time 15.336940 ms 
--------------------stamp1317358092.343226909
add points time 0.784262 ms
filter time 11.646181 ms 
publication time 7.932719 ms 
whole laserOdometry time 7.966946 ms 
 
-----t: 0.0317852
OdomCount 3180 & avg odom time 0.046974 ms ++++++++++++++++++++++
build tree time 36.668362 ms 
mapping data assosiation time 16.314167 ms 
--------------------stamp1317358092.447192907
sort q time 3.627359 
seperate points time 8.830316 
mapping solver time 15.550114 ms 
filter time 15.226215 ms 
-----t: 0.0541953
OdomCount 3181 & avg odom time 0.046976 ms ++++++++++++++++++++++
build tree time 35.356944 ms 
--------------------stamp1317358092.551160097
sort q time 3.615274 
seperate points time 7.774280 
publication time 7.276466 ms 
whole laserOdometry time 7.289171 ms 
 
-----t: 0.0430257
OdomCount 3182 & avg odom time 0.046975 ms ++++++++++++++++++++++
filter time 10.009808 ms 
--------------------stamp1317358092.655102968
sort q time 3.303666 
seperate points time 7.748877 
publication time 5.151356 ms 
whole laserOdometry time 5.162956 ms 
 
-----t: 0.0362471
OdomCount 3183 & avg odom time 0.046972 ms ++++++++++++++++++++++
mapping data assosiation time 20.589735 ms 
mapping solver time 15.009584 ms 
filter time 14.034930 ms 
points size 56043 
scan registration time 18.263133 ms *************
[0m[ INFO] [1718890175.694910340, 1317358092.794034713]: Received 213089 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890175.695127424, 1317358092.794034713]: Data saved to 1317358092551160.pcd[0m
publication time 9.820872 ms 
whole laserOdometry time 9.830468 ms 
 
-----t: 0.0444023
OdomCount 3184 & avg odom time 0.046971 ms ++++++++++++++++++++++
mapping solver time 15.696574 ms 
mapping data assosiation time 19.207058 ms 
scan registration time 15.535779 ms *************
filter time 13.809651 ms 
build tree time 33.999314 ms 
mapping data assosiation time 15.280817 ms 
--------------------stamp1317358092.966955900
sort q time 2.866196 
seperate points time 6.067530 
mapping data assosiation time 18.246112 ms 
-----t: 0.0300353
OdomCount 3186 & avg odom time 0.046960 ms ++++++++++++++++++++++
filter time 10.114295 ms 
--------------------stamp1317358093.070898056
mapping data assosiation time 18.292810 ms 
publication time 5.380560 ms 
whole laserOdometry time 5.410057 ms 
 
mapping solver time 20.253892 ms 
mapping data assosiation time 18.024609 ms 
mapping solver time 13.800367 ms 
filter time 11.731456 ms 
--------------------stamp1317358093.174840927
build tree time 37.538441 ms 
mapping data assosiation time 16.916169 ms 
-----t: 0.033108
OdomCount 3188 & avg odom time 0.046950 ms ++++++++++++++++++++++
mapping data assosiation time 13.824743 ms 
mapping solver time 16.632054 ms 
filter time 12.115844 ms 
points size 59728 
sort q time 3.200186 
seperate points time 8.060256 
publication time 6.077504 ms 
whole laserOdometry time 6.090164 ms 
 
-----t: 0.0302631
OdomCount 3189 & avg odom time 0.046945 ms ++++++++++++++++++++++
mapping data assosiation time 18.235552 ms 
mapping solver time 16.085707 ms 
mapping data assosiation time 15.642444 ms 
mapping solver time 14.399012 ms 
publication time 6.499957 ms 
whole laserOdometry time 6.573304 ms 
-----t: 0.0293338
OdomCount 3190 & avg odom time 0.046939 ms ++++++++++++++++++++++
[0m[ INFO] [1718890176.364149342, 1317358093.465947067]: Received 214986 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890176.364183201, 1317358093.465947067]: Data saved to 1317358093174840.pcd[0m
--------------------stamp1317358093.486668109
mapping pub time 98.864823 ms 
whole mapping time 224.135463 ms +++++
mappingCount 2001 & avg mapping time 161.500799 ms ++++++++++++++++++++++
publication time 11.942311 ms 
whole laserOdometry time 11.957500 ms 
 
-----t: 0.0365718
OdomCount 3191 & avg odom time 0.046936 ms ++++++++++++++++++++++
mapping data assosiation time 14.447698 ms 
mapping solver time 15.850723 ms 
--------------------stamp1317358093.590610980
sort q time 3.407969 
seperate points time 7.080494 
publication time 6.466232 ms 
whole laserOdometry time 6.478367 ms 
 
1317358093.278783083 WriteOdom aft_mapped_to_init
-----t: 0.0468894
OdomCount 3192 & avg odom time 0.046936 ms ++++++++++++++++++++++
build tree time 39.681887 ms 
mapping data assosiation time 18.304541 ms 
points size 67696 
sort q time 3.735034 
seperate points time 9.106946 
mapping solver time 26.502996 ms 
mapping data assosiation time 20.573894 ms 
mapping solver time 15.661340 ms 
-----t: 0.054771
OdomCount 3193 & avg odom time 0.046938 ms ++++++++++++++++++++++
mapping pub time 10.091281 ms 
whole mapping time 176.771781 ms +++++
mappingCount 2003 & avg mapping time 161.490223 ms ++++++++++++++++++++++
points size 69733 
sort q time 6.968740 
seperate points time 16.703023 
publication time 17.554952 ms 
whole laserOdometry time 17.572105 ms 
 
--------------------stamp1317358093.902439117
points size 72115 
sort q time 11.483589 
seperate points time 16.517916 
publication time 18.164907 ms 
whole laserOdometry time 18.180081 ms 
 
--------------------stamp1317358094.006382942
mapping solver time 66.068716 ms 
sort q time 3.692840 
seperate points time 33.170505 
publication time 8.020014 ms 
whole laserOdometry time 8.039525 ms 
 
mapping solver time 26.882497 ms 
points size 73504 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
scan registration time 54.311370 ms *************
publication time 7.518251 ms 
whole laserOdometry time 7.536845 ms 
 
mapping data assosiation time 16.291626 ms 
--------------------stamp1317358094.214242935
publication time 6.655984 ms 
whole laserOdometry time 6.671335 ms 
 
filter time 10.202591 ms 
build tree time 15.521144 ms 
mapping data assosiation time 15.602242 ms 
--------------------stamp1317358094.318186044
sort q time 3.694495 
seperate points time 8.640947 
publication time 7.796118 ms 
whole laserOdometry time 7.806090 ms 
 
mapping solver time 16.849090 ms 
mapping optimization time 86.999127 
-----t: 0.0508581
OdomCount 3199 & avg odom time 0.046976 ms ++++++++++++++++++++++
1317358094.318186044 WriteOdom laser_odom_to_init
1317358094.318186044 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.137195 ms
map corner num 73516  surf num 29006 
build tree time 18.369811 ms 
--------------------stamp1317358094.422106027
sort q time 3.949664 
seperate points time 9.616163 
mapping data assosiation time 23.705204 ms 
-----t: 0.0350608
OdomCount 3200 & avg odom time 0.046973 ms ++++++++++++++++++++++
mapping pub time 1.636489 ms 
whole mapping time 106.544033 ms +++++
mappingCount 2007 & avg mapping time 161.499487 ms ++++++++++++++++++++++
build tree time 14.702793 ms 
--------------------stamp1317358094.526022911
sort q time 3.851140 
seperate points time 9.589333 
publication time 9.357526 ms 
whole laserOdometry time 9.371215 ms 
 
mapping solver time 11.945407 ms 
map prepare time 1.998021 ms
map corner num 74565  surf num 29403 
build tree time 14.958756 ms 
mapping data assosiation time 16.584628 ms 
sort q time 3.628496 
seperate points time 8.717509 
publication time 6.723700 ms 
whole laserOdometry time 6.737175 ms 
 
-----t: 0.0423349
OdomCount 3202 & avg odom time 0.046966 ms ++++++++++++++++++++++
filter time 5.198488 ms 
build tree time 15.439617 ms 
--------------------stamp1317358094.733861923
sort q time 3.395107 
seperate points time 7.676905 
publication time 6.958006 ms 
whole laserOdometry time 6.976866 ms 
 
mapping data assosiation time 19.497144 ms 
mapping solver time 18.864720 ms 
mapping pub time 1.694533 ms 
whole mapping time 102.097918 ms +++++
mappingCount 2010 & avg mapping time 161.411929 ms ++++++++++++++++++++++
build tree time 15.302937 ms 
--------------------stamp1317358094.837779998
sort q time 4.055101 
seperate points time 8.735395 
scan registration time 17.306949 ms *************
-----t: 0.0280575
OdomCount 3204 & avg odom time 0.046956 ms ++++++++++++++++++++++
mapping solver time 15.434913 ms 
mapping pub time 2.969727 ms 
whole mapping time 98.294425 ms +++++
mappingCount 2011 & avg mapping time 161.380545 ms ++++++++++++++++++++++
build tree time 20.431645 ms 
--------------------stamp1317358094.941699028
mapping data assosiation time 20.060681 ms 
sort q time 4.412594 
seperate points time 9.071523 
publication time 6.207773 ms 
whole laserOdometry time 6.220503 ms 
 
mapping data assosiation time 19.096933 ms 
-----t: 0.0499926
OdomCount 3205 & avg odom time 0.046957 ms ++++++++++++++++++++++
mapping solver time 19.548196 ms 
filter time 7.742639 ms 
--------------------stamp1317358095.045639991
sort q time 3.847463 
seperate points time 9.166885 
publication time 5.096011 ms 
whole laserOdometry time 5.105808 ms 
 
mapping solver time 23.750020 ms 
mapping data assosiation time 19.220102 ms 
mapping solver time 19.496628 ms 
mapping optimization time 104.396287 
add points time 0.688991 ms
points size 71973 
sort q time 3.836154 
seperate points time 9.436174 
mapping data assosiation time 19.640204 ms 
mapping solver time 21.041070 ms 
mapping data assosiation time 19.441283 ms 
mapping solver time 20.101124 ms 
filter time 7.823861 ms 
mapping pub time 1.708732 ms 
whole mapping time 117.195944 ms +++++
mappingCount 2014 & avg mapping time 161.315062 ms ++++++++++++++++++++++
1317358095.045639992 WriteOdom aft_mapped_to_init
map prepare time 2.756909 ms
map corner num 76962  surf num 30048 
sort q time 4.633912 
seperate points time 9.387945 
scan registration time 18.569399 ms *************
publication time 6.504482 ms 
whole laserOdometry time 6.517476 ms 
 
build tree time 20.206463 ms 
mapping data assosiation time 17.982318 ms 
-----t: 0.048573
OdomCount 3208 & avg odom time 0.046951 ms ++++++++++++++++++++++
mapping solver time 20.137594 ms 
mapping data assosiation time 14.234917 ms 
--------------------stamp1317358095.357420921
mapping pub time 1.685931 ms 
whole mapping time 103.160477 ms +++++
mappingCount 2015 & avg mapping time 161.286203 ms ++++++++++++++++++++++
publication time 6.668848 ms 
whole laserOdometry time 6.687663 ms 
 
-----t: 0.0284783
OdomCount 3209 & avg odom time 0.046945 ms ++++++++++++++++++++++
1317358095.357420921 WriteOdom laser_odom_to_init
1317358095.357420921 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.212860 ms 
mapping solver time 14.322289 ms 
mapping data assosiation time 14.517834 ms 
mapping solver time 12.124858 ms 
filter time 7.952752 ms 
sort q time 3.775118 
seperate points time 9.224755 
publication time 6.557402 ms 
whole laserOdometry time 6.569568 ms 
 
mapping solver time 18.162177 ms 
mapping data assosiation time 17.471576 ms 
mapping solver time 11.708610 ms 
map prepare time 3.009547 ms
map corner num 77877  surf num 30295 
sort q time 4.569587 
seperate points time 8.647403 
publication time 6.109108 ms 
whole laserOdometry time 6.123631 ms 
 
mapping data assosiation time 18.310636 ms 
mapping solver time 23.758752 ms 
mapping data assosiation time 17.210873 ms 
mapping solver time 15.440007 ms 
prepare time 8.991287 
sort q time 4.243163 
seperate points time 8.191156 
build tree time 21.025011 ms 
publication time 13.667336 ms 
whole laserOdometry time 13.675941 ms 
 
mapping data assosiation time 19.088079 ms 
-----t: 0.0550216
OdomCount 3212 & avg odom time 0.046946 ms ++++++++++++++++++++++
mapping data assosiation time 15.637700 ms 
--------------------stamp1317358095.773195981
prepare time 8.827151 
map prepare time 2.465151 ms
map corner num 78520  surf num 30450 
sort q time 3.567083 
seperate points time 8.918167 
publication time 7.117233 ms 
whole laserOdometry time 7.128760 ms 
 
-----t: 0.0312162
OdomCount 3213 & avg odom time 0.046941 ms ++++++++++++++++++++++
mapping solver time 18.185950 ms 
mapping data assosiation time 15.303930 ms 
--------------------stamp1317358095.877137899
prepare time 9.096469 
sort q time 3.615621 
seperate points time 8.948726 
build tree time 19.481163 ms 
1317358095.877137899 WriteOdom laser_odom_to_init
1317358095.877137899 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.214526 ms 
mapping solver time 18.438009 ms 
mapping solver time 11.109223 ms 
[0m[ INFO] [1718890178.883784643, 1317358095.983877168]: Received 109817 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890178.883853036, 1317358095.983877168]: Data saved to 1317358095773195.pcd[0m
sort q time 3.466791 
seperate points time 7.328831 
publication time 7.452955 ms 
whole laserOdometry time 7.466194 ms 
 
-----t: 0.0443293
OdomCount 3215 & avg odom time 0.046935 ms ++++++++++++++++++++++
1317358095.981126070 WriteOdom laser_odom_to_init
1317358095.981126070 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 101.635758 ms 
whole mapping time 192.011944 ms +++++
mappingCount 2021 & avg mapping time 161.153296 ms ++++++++++++++++++++++
points size 65991 
build tree time 16.720387 ms 
sort q time 3.381704 
seperate points time 8.326739 
scan registration time 18.471769 ms *************
publication time 7.357599 ms 
whole laserOdometry time 7.367787 ms 
 
-----t: 0.0305945
OdomCount 3216 & avg odom time 0.046930 ms ++++++++++++++++++++++
1317358096.085117101 WriteOdom laser_odom_to_init
1317358096.085117101 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.723553 ms 
mapping data assosiation time 15.866403 ms 
mapping solver time 16.039137 ms 
map prepare time 2.805158 ms
map corner num 79477  surf num 30738 
sort q time 3.994306 
seperate points time 7.770489 
publication time 5.842784 ms 
whole laserOdometry time 5.853991 ms 
 
mapping data assosiation time 19.051055 ms 
mapping solver time 20.718192 ms 
mapping data assosiation time 17.351916 ms 
mapping solver time 15.680122 ms 
mapping pub time 1.474770 ms 
whole mapping time 106.621097 ms +++++
mappingCount 2023 & avg mapping time 161.099442 ms ++++++++++++++++++++++
sort q time 3.296659 
seperate points time 8.143468 
build tree time 21.498393 ms 
-----t: 0.0301611
OdomCount 3218 & avg odom time 0.046920 ms ++++++++++++++++++++++
mapping solver time 14.596326 ms 
mapping data assosiation time 16.796213 ms 
mapping solver time 12.858450 ms 
1317358096.189086914 WriteOdom aft_mapped_to_init
sort q time 2.956741 
seperate points time 6.365039 
build tree time 19.497385 ms 
mapping data assosiation time 19.429208 ms 
mapping solver time 16.932875 ms 
mapping data assosiation time 17.643697 ms 
mapping solver time 12.987764 ms 
mapping pub time 1.814929 ms 
whole mapping time 99.959782 ms +++++
mappingCount 2025 & avg mapping time 161.037994 ms ++++++++++++++++++++++
sort q time 3.114697 
seperate points time 6.842766 
publication time 5.460701 ms 
whole laserOdometry time 5.467843 ms 
 
mapping data assosiation time 18.127871 ms 
mapping solver time 15.421487 ms 
mapping data assosiation time 15.275382 ms 
mapping solver time 11.546570 ms 
[0m[ INFO] [1718890179.493977389, 1317358096.596310207]: Received 111950 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890179.494020572, 1317358096.596310207]: Data saved to 1317358096396992.pcd[0m
--------------------stamp1317358096.604902029
build tree time 21.319972 ms 
publication time 6.335015 ms 
whole laserOdometry time 6.349525 ms 
 
1317358096.604902029 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.554497 ms 
mapping solver time 16.017591 ms 
mapping pub time 1.370043 ms 
whole mapping time 101.374607 ms +++++
mappingCount 2027 & avg mapping time 160.974874 ms ++++++++++++++++++++++
--------------------stamp1317358096.708890914
points size 58504 
prepare time 7.479123 
publication time 5.397467 ms 
whole laserOdometry time 5.420296 ms 
 
mapping data assosiation time 19.651278 ms 
-----t: 0.0401743
OdomCount 3222 & avg odom time 0.046901 ms ++++++++++++++++++++++
mapping data assosiation time 16.239542 ms 
mapping solver time 17.179798 ms 
--------------------stamp1317358096.812906980
sort q time 2.680975 
seperate points time 6.042052 
publication time 6.237469 ms 
whole laserOdometry time 6.251552 ms 
 
mapping data assosiation time 18.911857 ms 
-----t: 0.0440602
OdomCount 3223 & avg odom time 0.046900 ms ++++++++++++++++++++++
mapping data assosiation time 15.934961 ms 
mapping solver time 16.464856 ms 
points size 62593 
sort q time 3.277345 
seperate points time 15.357484 
publication time 7.110461 ms 
whole laserOdometry time 7.135325 ms 
 
-----t: 0.0408831
OdomCount 3224 & avg odom time 0.046898 ms ++++++++++++++++++++++
1317358096.916920900 WriteOdom laser_odom_to_init
1317358096.916920900 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.888975 ms 
--------------------stamp1317358097.020910978
filter time 5.748781 ms 
publication time 5.679461 ms 
whole laserOdometry time 5.709211 ms 
mapping data assosiation time 17.038035 ms 
mapping solver time 22.151229 ms 
mapping data assosiation time 17.642909 ms 
--------------------stamp1317358097.124877929
prepare time 8.708621 
sort q time 3.828241 
seperate points time 9.270694 
publication time 6.266139 ms 
whole laserOdometry time 6.279357 ms 
 
mapping data assosiation time 19.984885 ms 
mapping solver time 19.479293 ms 
mapping data assosiation time 19.308853 ms 
points size 73876 
sort q time 3.962022 
seperate points time 9.534315 
publication time 11.630268 ms 
whole laserOdometry time 11.644530 ms 
 
mapping data assosiation time 15.682173 ms 
mapping solver time 17.290544 ms 
mapping data assosiation time 17.206746 ms 
points size 77999 
sort q time 5.572354 
seperate points time 10.529534 
publication time 7.286607 ms 
whole laserOdometry time 7.298259 ms 
 
-----t: 0.0303886
OdomCount 3228 & avg odom time 0.046885 ms ++++++++++++++++++++++
mapping data assosiation time 17.706370 ms 
mapping solver time 16.941305 ms 
mapping data assosiation time 16.779199 ms 
points size 80735 
prepare time 8.124510 
mapping solver time 15.663580 ms 
mapping optimization time 89.398478 
add points time 0.692936 ms
publication time 8.173872 ms 
whole laserOdometry time 8.186107 ms 
 
build tree time 19.988382 ms 
mapping data assosiation time 17.841545 ms 
mapping solver time 17.670684 ms 
mapping data assosiation time 17.240242 ms 
points size 82274 
sort q time 4.572691 
seperate points time 9.723050 
publication time 7.142175 ms 
whole laserOdometry time 7.158262 ms 
 
build tree time 20.465710 ms 
mapping data assosiation time 18.436645 ms 
mapping solver time 19.297196 ms 
mapping data assosiation time 19.288565 ms 
--------------------stamp1317358097.644881963
mapping solver time 14.190198 ms 
[0m[ INFO] [1718890180.569443554, 1317358097.668228235]: Received 116051 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890180.569564777, 1317358097.668228235]: Data saved to 1317358097436853.pcd[0m
whole laserOdometry time 11.860488 ms build tree time 20.900757 ms 
mapping data assosiation time 17.092772 ms 
mapping solver time 18.164598 ms 
--------------------stamp1317358097.748895883
points size 82752 
sort q time 4.689782 
seperate points time 11.033270 
mapping solver time 16.241503 ms 
mapping pub time 1.876241 ms 
whole mapping time 108.105213 ms +++++
mappingCount 2037 & avg mapping time 160.706849 ms ++++++++++++++++++++++
-----t: 0.0485098
OdomCount 3232 & avg odom time 0.046871 ms ++++++++++++++++++++++
mapping data assosiation time 18.681781 ms 
--------------------stamp1317358097.852910041
sort q time 4.848167 
seperate points time 11.124419 
mapping data assosiation time 21.379139 ms 
scan registration time 24.231303 ms *************
publication time 8.833840 ms 
whole laserOdometry time 8.847838 ms 
 
-----t: 0.0441305
OdomCount 3233 & avg odom time 0.046870 ms ++++++++++++++++++++++
build tree time 20.783727 ms 
mapping data assosiation time 18.028448 ms 
--------------------stamp1317358097.956899881
mapping solver time 23.486546 ms 
mapping data assosiation time 23.650032 ms 
mapping solver time 19.663938 ms 
mapping pub time 1.888740 ms 
whole mapping time 117.421892 ms +++++
mappingCount 2039 & avg mapping time 160.664335 ms ++++++++++++++++++++++
build tree time 19.317030 ms 
--------------------stamp1317358098.060866117
sort q time 4.813092 
seperate points time 10.359220 
publication time 6.795998 ms 
whole laserOdometry time 6.810904 ms 
 
mapping solver time 16.943842 ms 
mapping optimization time 94.822894 
add points time 0.641377 ms
build tree time 17.263653 ms 
--------------------stamp1317358098.164859056
sort q time 4.557085 
seperate points time 10.169910 
-----t: 0.0307792
OdomCount 3236 & avg odom time 0.046856 ms ++++++++++++++++++++++
mapping solver time 13.510034 ms 
filter time 5.796863 ms 
--------------------stamp1317358098.268851041
scan registration time 23.584249 ms *************
publication time 8.990444 ms 
whole laserOdometry time 9.004903 ms 
 
-----t: 0.0394533
OdomCount 3237 & avg odom time 0.046854 ms ++++++++++++++++++++++
build tree time 20.023854 ms 
points size 86869 
sort q time 4.965647 
seperate points time 11.464170 
publication time 7.163235 ms 
whole laserOdometry time 7.174991 ms 
 
mapping data assosiation time 21.729880 ms 
filter time 6.189702 ms 
mapping pub time 2.001177 ms 
whole mapping time 111.136299 ms +++++
mappingCount 2042 & avg mapping time 160.634219 ms ++++++++++++++++++++++
1317358098.164859056 WriteOdom aft_mapped_to_init
build tree time 18.273159 ms 
points size 86949 
sort q time 4.959846 
seperate points time 11.556384 
publication time 7.553369 ms 
whole laserOdometry time 7.566078 ms 
 
-----t: 0.0375127
OdomCount 3239 & avg odom time 0.046852 ms ++++++++++++++++++++++
mapping data assosiation time 19.434917 ms 
mapping solver time 17.617700 ms 
mapping pub time 2.069606 ms 
whole mapping time 110.605641 ms +++++
mappingCount 2043 & avg mapping time 160.609733 ms ++++++++++++++++++++++
--------------------stamp1317358098.580724954
sort q time 4.748622 
seperate points time 10.732116 
mapping data assosiation time 22.487405 ms 
-----t: 0.0333636
OdomCount 3240 & avg odom time 0.046848 ms ++++++++++++++++++++++
mapping data assosiation time 17.301065 ms 
mapping solver time 13.585080 ms 
mapping optimization time 97.436197 
add points time 0.676731 ms
--------------------stamp1317358098.684643983
points size 86802 
sort q time 5.289963 
seperate points time 10.872421 
mapping data assosiation time 21.544363 ms 
build tree time 18.924414 ms 
publication time 8.745983 ms 
whole laserOdometry time 8.761930 ms 
 
-----t: 0.0417283
OdomCount 3242 & avg odom time 0.046843 ms ++++++++++++++++++++++
mapping data assosiation time 18.625602 ms 
mapping solver time 15.104505 ms 
[0m[ INFO] [1718890181.790676988, 1317358098.886301289]: Received 120018 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890181.790788951, 1317358098.886301289]: Data saved to 1317358098684643.pcd[0m
points size 86742 
sort q time 4.944720 
seperate points time 11.663456 
-----t: 0.0324802
OdomCount 3243 & avg odom time 0.046839 ms ++++++++++++++++++++++
mapping solver time 23.075658 ms 
mapping data assosiation time 18.950619 ms 
--------------------stamp1317358098.996088981
mapping solver time 21.983106 ms 
1317358098.788515091 WriteOdom aft_mapped_to_initpublication time 9.413200 ms 
whole laserOdometry time 9.427408 ms 
 
mapping solver time 20.353663 ms 
--------------------stamp1317358099.099865913
prepare time 10.752591 
sort q time 4.964800 
seperate points time 11.819870 
mapping pub time 2.016027 ms 
whole mapping time 115.797226 ms +++++
mappingCount 2048 & avg mapping time 160.491412 ms ++++++++++++++++++++++
1317358098.892313957 WriteOdom aft_mapped_to_init
build tree time 20.055562 ms 
-----t: 0.057119
OdomCount 3245 & avg odom time 0.046843 ms ++++++++++++++++++++++
--------------------stamp1317358099.203617095
points size 87224 
prepare time 9.943259 
publication time 8.669390 ms 
whole laserOdometry time 8.682402 ms 
 
mapping solver time 23.125305 ms 
filter time 7.367324 ms 
build tree time 18.496073 ms 
--------------------stamp1317358099.307318925
points size 87544 
sort q time 4.796619 
seperate points time 11.306960 
publication time 9.510716 ms 
whole laserOdometry time 9.526268 ms 
 
mapping data assosiation time 22.534498 ms 
mapping solver time 19.661454 ms 
filter time 8.188444 ms 
--------------------stamp1317358099.411021947
sort q time 4.368958 
seperate points time 10.244058 
publication time 7.206655 ms 
whole laserOdometry time 7.220301 ms 
 
-----t: 0.0331842
OdomCount 3248 & avg odom time 0.046832 ms ++++++++++++++++++++++
mapping solver time 27.549377 ms 
mapping data assosiation time 17.588741 ms 
mapping solver time 22.578822 ms 
--------------------stamp1317358099.514746904
sort q time 5.290446 
seperate points time 10.759231 
scan registration time 22.352990 ms *************
mapping data assosiation time 23.867421 ms 
mapping solver time 24.229744 ms 
mapping data assosiation time 20.270794 ms 
prepare time 8.918540 
sort q time 4.968667 
seperate points time 9.889431 
filter time 8.158609 ms 
publication time 8.288052 ms 
whole laserOdometry time 8.304454 ms 
 
map prepare time 3.458182 ms
map corner num 88687  surf num 33845 
build tree time 22.736805 ms 
mapping data assosiation time 18.726475 ms 
--------------------stamp1317358099.722103118
sort q time 4.573673 
seperate points time 10.512025 
publication time 9.329683 ms 
whole laserOdometry time 9.343695 ms 
 
filter time 5.935354 ms 
build tree time 20.349330 ms 
--------------------stamp1317358099.825855016
sort q time 4.910707 
seperate points time 11.534903 
scan registration time 23.860710 ms *************
publication time 7.629533 ms 
whole laserOdometry time 7.644275 ms 
 
mapping data assosiation time 24.116827 ms 
1317358099.825855016 WriteOdom aft_mapped_to_init_high_frec
filter time 6.245321 ms 
build tree time 19.056676 ms 
points size 88994 
mapping data assosiation time 23.004886 ms 
publication time 7.478758 ms 
whole laserOdometry time 7.496756 ms 
 
-----t: 0.0341166
OdomCount 3253 & avg odom time 0.046823 ms ++++++++++++++++++++++
mapping data assosiation time 21.918157 ms 
mapping solver time 15.279980 ms 
mapping optimization time 104.765898 
add points time 0.681030 ms
--------------------stamp1317358100.033381938
prepare time 10.325498 
sort q time 4.899977 
seperate points time 11.187628 
publication time 6.674985 ms 
whole laserOdometry time 6.688234 ms 
 
-----t: 0.0418499
OdomCount 3254 & avg odom time 0.046821 ms ++++++++++++++++++++++
mapping solver time 23.967302 ms 
mapping data assosiation time 20.919427 ms 
--------------------stamp1317358100.137083053
points size 89108 
map prepare time 3.083264 ms
map corner num 90129  surf num 34493 
1317358099.929630995 WriteOdom aft_mapped_to_init
build tree time 22.480974 ms 
-----t: 0.0581117
OdomCount 3255 & avg odom time 0.046825 ms ++++++++++++++++++++++
mapping solver time 23.367142 ms 
points size 89381 
sort q time 5.052282 
seperate points time 12.221310 
publication time 7.979496 ms 
whole laserOdometry time 7.997466 ms 
 
filter time 7.192067 ms 
-----t: 0.0548877
OdomCount 3256 & avg odom time 0.046827 ms ++++++++++++++++++++++
mapping data assosiation time 20.281533 ms 
points size 89434 
sort q time 5.522220 
seperate points time 11.942867 
mapping data assosiation time 25.372257 ms 
-----t: 0.0422517
OdomCount 3257 & avg odom time 0.046826 ms ++++++++++++++++++++++
1317358100.344515085 WriteOdom laser_odom_to_init
1317358100.344515085 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.971291 ms 
mapping optimization time 109.696895 
add points time 0.717109 ms
map prepare time 2.328217 ms
map corner num 90767  surf num 34789 
build tree time 21.502035 ms 
points size 89320 
sort q time 5.099043 
seperate points time 21.503260 
publication time 10.606169 ms 
mapping data assosiation time 26.050258 ms 
mapping solver time 16.669820 ms 
mapping pub time 2.118627 ms 
whole mapping time 128.791443 ms +++++
mappingCount 2059 & avg mapping time 160.306067 ms ++++++++++++++++++++++
points size 89122 
sort q time 5.179109 
seperate points time 10.567952 
publication time 7.912367 ms 
whole laserOdometry time 7.930648 ms 
 
-----t: 0.0451185
OdomCount 3259 & avg odom time 0.046827 ms ++++++++++++++++++++++
mapping solver time 22.206963 ms 
mapping data assosiation time 21.250374 ms 
--------------------stamp1317358100.655694961
mapping solver time 24.688122 ms 
mapping pub time 2.015292 ms 
whole mapping time 131.650663 ms +++++
mappingCount 2060 & avg mapping time 160.292160 ms ++++++++++++++++++++++
publication time 8.140342 ms 
whole laserOdometry time 8.158291 ms 
 
build tree time 23.083394 ms 
mapping data assosiation time 21.427273 ms 
mapping solver time 21.618087 ms 
points size 87752 
sort q time 4.965673 
seperate points time 11.979269 
mapping solver time 24.117774 ms 
[0m[ INFO] [1718890183.714678914, 1317358100.811453392]: Received 127147 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890183.714726345, 1317358100.811453392]: Data saved to 1317358100551968.pcd[0m
--------------------stamp1317358100.863195896
prepare time 11.947733 
sort q time 5.611172 
seperate points time 13.000757 
mapping pub time 100.246891 ms 
whole mapping time 229.920257 ms +++++
mappingCount 2061 & avg mapping time 160.325946 ms ++++++++++++++++++++++
1317358100.551968098 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
publication time 12.209051 ms 
whole laserOdometry time 12.221733 ms 
 
map prepare time 2.871562 ms
map corner num 91895  surf num 35252 
build tree time 22.464316 ms 
mapping data assosiation time 19.992261 ms 
points size 86375 
sort q time 4.190936 
seperate points time 8.957727 
publication time 14.448000 ms 
whole laserOdometry time 14.463922 ms 
 
-----t: 0.04825
OdomCount 3263 & avg odom time 0.046821 ms ++++++++++++++++++++++
mapping pub time 2.085321 ms 
whole mapping time 125.936542 ms +++++
mappingCount 2062 & avg mapping time 160.309271 ms ++++++++++++++++++++++
build tree time 19.950287 ms 
points size 85559 
mapping data assosiation time 23.530553 ms 
publication time 15.177059 ms 
whole laserOdometry time 15.191653 ms 
 
mapping data assosiation time 20.049120 ms 
mapping solver time 19.000395 ms 
mapping pub time 1.932599 ms 
whole mapping time 125.491168 ms +++++
mappingCount 2063 & avg mapping time 160.292395 ms ++++++++++++++++++++++
points size 84753 
mapping data assosiation time 24.416207 ms 
-----t: 0.0358495
OdomCount 3265 & avg odom time 0.046815 ms ++++++++++++++++++++++
mapping solver time 22.591055 ms 
mapping data assosiation time 19.807356 ms 
--------------------stamp1317358101.278727054
filter time 9.326079 ms 
publication time 8.377512 ms 
whole laserOdometry time 8.394044 ms 
 
-----t: 0.0412984
OdomCount 3266 & avg odom time 0.046813 ms ++++++++++++++++++++++
mapping data assosiation time 22.275790 ms 
mapping solver time 19.329029 ms 
points size 83564 
sort q time 4.837329 
seperate points time 9.825419 
mapping optimization time 110.179029 
filter time 8.692132 ms 
build tree time 23.822608 ms 
mapping data assosiation time 20.163335 ms 
--------------------stamp1317358101.486635923
sort q time 4.753066 
seperate points time 9.619733 
scan registration time 19.626500 ms *************
mapping solver time 18.889024 ms 
filter time 6.192415 ms 
build tree time 19.887138 ms 
--------------------stamp1317358101.590603113
sort q time 4.513586 
seperate points time 9.604343 
publication time 7.749698 ms 
whole laserOdometry time 7.760432 ms 
 
-----t: 0.03766
OdomCount 3269 & avg odom time 0.046809 ms ++++++++++++++++++++++
mapping solver time 16.094688 ms 
filter time 6.262511 ms 
mapping pub time 1.933557 ms 
whole mapping time 113.146911 ms +++++
mappingCount 2067 & avg mapping time 160.217727 ms ++++++++++++++++++++++
1317358101.382669926 WriteOdom aft_mapped_to_init
map prepare time 2.213441 ms
map corner num 93869  surf num 35893 
build tree time 20.220314 ms 
points size 82287 
sort q time 5.089456 
seperate points time 10.228773 
scan registration time 21.048823 ms *************
publication time 8.758964 ms 
whole laserOdometry time 8.774137 ms 
 
1317358101.694569110 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.996898 ms 
mapping solver time 13.724856 ms 
filter time 6.334484 ms 
--------------------stamp1317358101.798537015
points size 81928 
sort q time 4.365867 
seperate points time 10.796609 
publication time 10.097768 ms 
whole laserOdometry time 10.418979 ms 
 
-----t: 0.0374477
OdomCount 3271 & avg odom time 0.046802 ms ++++++++++++++++++++++
mapping data assosiation time 20.447559 ms 
mapping solver time 15.072258 ms 
mapping optimization time 99.205774 
add points time 0.735377 ms
filter time 6.759699 ms 
--------------------stamp1317358101.902504920
build tree time 23.064192 ms 
mapping data assosiation time 21.460190 ms 
publication time 7.972592 ms 
whole laserOdometry time 7.988417 ms 
 
mapping solver time 19.273965 ms 
mapping data assosiation time 17.694555 ms 
mapping solver time 12.914208 ms 
filter time 6.147752 ms 
points size 81640 
sort q time 4.645877 
seperate points time 9.868071 
publication time 7.143347 ms 
whole laserOdometry time 7.157304 ms 
 
mapping solver time 18.677191 ms 
mapping data assosiation time 16.356680 ms 
mapping solver time 13.315903 ms 
filter time 6.160846 ms 
map prepare time 3.471448 ms
map corner num 94915  surf num 36175 
sort q time 5.093821 
seperate points time 10.040199 
build tree time 25.914947 ms 
-----t: 0.0339905
OdomCount 3274 & avg odom time 0.046792 ms ++++++++++++++++++++++
mapping solver time 16.991088 ms 
mapping data assosiation time 17.884844 ms 
--------------------stamp1317358102.214283943
mapping pub time 1.839143 ms 
whole mapping time 114.163433 ms +++++
mappingCount 2072 & avg mapping time 160.096515 ms ++++++++++++++++++++++
publication time 6.149035 ms 
whole laserOdometry time 6.165180 ms 
 
build tree time 25.381661 ms 
mapping data assosiation time 18.609578 ms 
mapping solver time 16.856504 ms 
mapping data assosiation time 18.486033 ms 
points size 81628 
scan registration time 21.282708 ms *************
publication time 8.327592 ms -----t: 0.0427256
OdomCount 3276 & avg odom time 0.046788 ms ++++++++++++++++++++++
mapping data assosiation time 17.831608 ms 
mapping solver time 17.082184 ms 
--------------------stamp1317358102.422049999
prepare time 11.686114 
sort q time 4.683221 
seperate points time 11.143544 
map prepare time 2.808706 ms
map corner num 95603  surf num 36359 
-----t: 0.0540414
OdomCount 3277 & avg odom time 0.046790 ms ++++++++++++++++++++++
mapping data assosiation time 18.297631 ms 
--------------------stamp1317358102.525968074
sort q time 5.054765 
seperate points time 9.627466 
publication time 7.361964 ms 
whole laserOdometry time 7.386581 ms 
 
mapping solver time 21.184781 ms 
-----t: 0.0337067
OdomCount 3278 & avg odom time 0.046786 ms ++++++++++++++++++++++
mapping optimization time 106.067141 
1317358102.525968074 WriteOdom laser_odom_to_init
1317358102.525968074 WriteOdom aft_mapped_to_init_high_frec
add points time 0.717442 ms
filter time 6.452327 ms 
build tree time 20.199490 ms 
mapping data assosiation time 16.611059 ms 
points size 79874 
sort q time 4.093385 
seperate points time 9.497827 
publication time 7.033773 ms 
whole laserOdometry time 7.046188 ms 
 
mapping data assosiation time 20.074715 ms 
1317358102.629909992 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.206411 ms 
filter time 8.861643 ms 
build tree time 19.628006 ms 
points size 78496 
scan registration time 18.958131 ms *************
mapping solver time 23.049782 ms 
-----t: 0.0368452
OdomCount 3280 & avg odom time 0.046779 ms ++++++++++++++++++++++
1317358102.733875989 WriteOdom laser_odom_to_init
1317358102.733875989 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.368456 ms 
mapping pub time 1.889883 ms 
whole mapping time 113.703059 ms +++++
mappingCount 2077 & avg mapping time 159.990449 ms ++++++++++++++++++++++
--------------------stamp1317358102.837892055
sort q time 4.235794 
seperate points time 10.162538 
mapping data assosiation time 19.641515 ms 
publication time 10.132274 ms 
whole laserOdometry time 10.147039 ms 
 
mapping solver time 23.429704 ms 
mapping data assosiation time 17.487798 ms 
mapping solver time 16.003241 ms 
mapping optimization time 100.714401 
add points time 0.687386 ms
--------------------stamp1317358102.942027091
sort q time 4.021072 
seperate points time 8.282240 
publication time 19.970723 ms 
whole laserOdometry time 19.997328 ms 
 
mapping data assosiation time 19.851721 ms 
mapping solver time 21.330392 ms 
mapping data assosiation time 17.896572 ms 
mapping solver time 15.857101 ms 
map prepare time 2.267037 ms
map corner num 97082  surf num 36857 
sort q time 4.979581 
seperate points time 9.861613 
scan registration time 19.966363 ms *************
build tree time 27.258019 ms 
mapping data assosiation time 18.786595 ms 
-----t: 0.0443362
OdomCount 3283 & avg odom time 0.046778 ms ++++++++++++++++++++++
1317358103.046281099 WriteOdom laser_odom_to_init
1317358103.046281099 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.204491 ms 
mapping data assosiation time 16.002912 ms 
--------------------stamp1317358103.150558948
add points time 0.976940 ms
filter time 8.273036 ms 
publication time 6.462309 ms 
whole laserOdometry time 6.476672 ms 
 
build tree time 25.186131 ms 
mapping data assosiation time 15.946759 ms 
mapping solver time 17.968936 ms 
mapping data assosiation time 15.911509 ms 
points size 75422 
sort q time 4.761812 
seperate points time 9.729139 
publication time 16.364085 ms 
whole laserOdometry time 16.371928 ms 
 
--------------------stamp1317358103.359091997
mapping pub time 99.284787 ms 
whole mapping time 203.642869 ms +++++
mappingCount 2081 & avg mapping time 159.946120 ms ++++++++++++++++++++++
publication time 6.141610 ms 
whole laserOdometry time 6.154494 ms 
 
build tree time 24.227234 ms 
mapping data assosiation time 16.257818 ms 
mapping solver time 18.269768 ms 
mapping data assosiation time 16.584808 ms 
points size 76081 
scan registration time 17.974376 ms *************
-----t: 0.0334615
OdomCount 3287 & avg odom time 0.046760 ms ++++++++++++++++++++++
mapping data assosiation time 13.886442 ms 
mapping solver time 17.837644 ms 
mapping data assosiation time 15.213455 ms 
points size 77342 
sort q time 4.211186 
seperate points time 10.176153 
publication time 6.013641 ms 
whole laserOdometry time 6.026470 ms 
 
build tree time 22.879379 ms 
mapping data assosiation time 16.411305 ms 
mapping solver time 13.452146 ms 
mapping data assosiation time 14.761619 ms 
points size 80652 
sort q time 4.943789 
seperate points time 9.668198 
filter time 8.358517 ms 
publication time 6.487862 ms 
whole laserOdometry time 6.499266 ms 
 
-----t: 0.0294271
OdomCount 3289 & avg odom time 0.046754 ms ++++++++++++++++++++++
mapping data assosiation time 14.609790 ms 
mapping solver time 18.145585 ms 
mapping data assosiation time 14.370085 ms 
points size 82305 
sort q time 4.337273 
seperate points time 9.811958 
-----t: 0.025479
OdomCount 3290 & avg odom time 0.046748 ms ++++++++++++++++++++++
1317358103.775968074 WriteOdom laser_odom_to_init
publication time 9.199059 ms 
whole laserOdometry time 9.212449 ms 
 
1317358103.775968074 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 13.681974 ms 
mapping solver time 14.279949 ms 
mapping data assosiation time 13.910378 ms 
--------------------stamp1317358103.880199909
points size 81327 
map prepare time 2.592949 ms
map corner num 98887  surf num 37251 
publication time 6.393797 ms 
whole laserOdometry time 6.406205 ms 
 
build tree time 26.491677 ms 
mapping data assosiation time 16.083751 ms 
mapping solver time 14.675939 ms 
mapping data assosiation time 14.288052 ms 
--------------------stamp1317358103.984406948
filter time 9.321044 ms 
publication time 6.779768 ms 
whole laserOdometry time 6.806556 ms 
build tree time 24.211847 ms 
mapping data assosiation time 14.608958 ms 
mapping solver time 17.554405 ms 
mapping data assosiation time 15.344415 ms 
points size 77701 
filter time 9.339006 ms 
publication time 6.790678 ms 
whole laserOdometry time 6.800399 ms 
 
-----t: 0.0392303
OdomCount 3293 & avg odom time 0.046740 ms ++++++++++++++++++++++
mapping data assosiation time 14.620461 ms 
mapping solver time 14.386496 ms 
mapping data assosiation time 15.351692 ms 
points size 76600 
sort q time 4.262773 
seperate points time 9.319290 
publication time 6.878727 ms 
whole laserOdometry time 6.889581 ms 
 
mapping data assosiation time 14.478560 ms 
mapping solver time 14.270955 ms 
mapping data assosiation time 14.924157 ms 
--------------------stamp1317358104.296955108
points size 75808 
prepare time 7.790857 
mapping solver time 17.268922 ms 
mapping optimization time 87.457639 
add points time 0.559295 ms
sort q time 10.381377 
seperate points time 15.395534 
publication time 5.490468 ms 
whole laserOdometry time 5.506454 ms 
 
build tree time 26.099332 ms 
mapping data assosiation time 15.407992 ms 
mapping solver time 13.786736 ms 
mapping data assosiation time 14.359509 ms 
--------------------stamp1317358104.401089906
filter time 6.850049 ms 
publication time 5.812177 ms 
whole laserOdometry time 5.828475 ms 
 
-----t: 0.0424707
OdomCount 3296 & avg odom time 0.046728 ms ++++++++++++++++++++++
mapping solver time 14.534402 ms 
mapping data assosiation time 14.259703 ms 
--------------------stamp1317358104.505198955
filter time 9.189240 ms 
publication time 5.951439 ms 
whole laserOdometry time 5.962042 ms 
 
-----t: 0.0381481
OdomCount 3297 & avg odom time 0.046725 ms ++++++++++++++++++++++
mapping data assosiation time 21.970976 ms 
mapping solver time 15.181642 ms 
--------------------stamp1317358104.609286069
mapping solver time 11.389231 ms 
map prepare time 2.415916 ms
map corner num 100470  surf num 37628 
-----t: 0.0304219
OdomCount 3298 & avg odom time 0.046720 ms ++++++++++++++++++++++
build tree time 24.957983 ms 
mapping data assosiation time 14.532946 ms 
mapping solver time 14.213145 ms 
mapping data assosiation time 13.547592 ms 
points size 74905 
filter time 9.473099 ms 
sort q time 4.254710 
seperate points time 9.533381 
publication time 5.450116 ms 
whole laserOdometry time 5.463998 ms 
 
build tree time 25.557335 ms 
mapping data assosiation time 14.630015 ms 
mapping solver time 17.683226 ms 
mapping data assosiation time 15.037370 ms 
mapping solver time 11.950028 ms 
sort q time 4.065395 
seperate points time 9.156142 
1317358104.609286070 WriteOdom aft_mapped_to_init
scan registration time 18.558745 ms *************
map prepare time 3.018134 ms
map corner num 100967  surf num 37749 
-----t: 0.0271483
OdomCount 3300 & avg odom time 0.046709 ms ++++++++++++++++++++++
mapping data assosiation time 13.121090 ms 
mapping solver time 17.282962 ms 
mapping data assosiation time 14.987522 ms 
mapping solver time 12.219453 ms 
mapping pub time 4.157502 ms 
whole mapping time 98.563265 ms +++++
mappingCount 2096 & avg mapping time 159.529507 ms ++++++++++++++++++++++
publication time 6.241043 ms 
whole laserOdometry time 6.262372 ms 
 
-----t: 0.0426402
OdomCount 3301 & avg odom time 0.046708 ms ++++++++++++++++++++++
mapping solver time 14.223533 ms 
mapping data assosiation time 14.446241 ms 
--------------------stamp1317358105.025490045
mapping pub time 1.621067 ms 
whole mapping time 100.893227 ms +++++
mappingCount 2097 & avg mapping time 159.501547 ms ++++++++++++++++++++++
publication time 7.591092 ms 
whole laserOdometry time 7.605118 ms 
 
-----t: 0.0340894
OdomCount 3302 & avg odom time 0.046704 ms ++++++++++++++++++++++
mapping data assosiation time 15.527615 ms 
mapping solver time 17.217123 ms 
mapping data assosiation time 13.286230 ms 
--------------------stamp1317358105.129529953
mapping pub time 1.583314 ms 
whole mapping time 102.387380 ms +++++
mappingCount 2098 & avg mapping time 159.474326 ms ++++++++++++++++++++++
publication time 6.113807 ms 
whole laserOdometry time 6.129534 ms 
 
mapping data assosiation time 14.951334 ms 
mapping solver time 16.559621 ms 
mapping data assosiation time 14.827886 ms 
--------------------stamp1317358105.233519077
mapping pub time 1.681362 ms 
whole mapping time 102.643498 ms +++++
mappingCount 2099 & avg mapping time 159.447252 ms ++++++++++++++++++++++
1317358105.025490046 WriteOdom aft_mapped_to_init
publication time 5.370390 ms 
whole laserOdometry time 5.381664 ms 
 
-----t: 0.0283416
OdomCount 3304 & avg odom time 0.046693 ms ++++++++++++++++++++++
mapping data assosiation time 14.974632 ms 
mapping solver time 19.671000 ms 
mapping data assosiation time 15.975037 ms 
mapping solver time 13.454941 ms 
mapping pub time 1.640217 ms 
whole mapping time 104.642316 ms +++++
mappingCount 2100 & avg mapping time 159.421162 ms ++++++++++++++++++++++
publication time 6.057877 ms 
whole laserOdometry time 6.070358 ms 
 
mapping data assosiation time 14.095142 ms 
mapping data assosiation time 15.165296 ms 
--------------------stamp1317358105.441499948
filter time 8.945368 ms 
[0m[ INFO] [1718890188.366407377, 1317358105.465768138]: Received 140566 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890188.366458557, 1317358105.465768138]: Data saved to 1317358105233519.pcd[0m
-----t: 0.0262967
OdomCount 3306 & avg odom time 0.046681 ms ++++++++++++++++++++++
--------------------stamp1317358105.545466899
sort q time 3.954998 
seperate points time 8.605688 
1317358105.233519077 WriteOdom aft_mapped_to_init
-----t: 0.03937
OdomCount 3307 & avg odom time 0.046679 ms ++++++++++++++++++++++
mapping data assosiation time 17.568728 ms 
mapping solver time 19.539205 ms 
points size 69840 
sort q time 3.755943 
seperate points time 9.032742 
mapping solver time 19.665221 ms 
1317358105.649409055 WriteOdom laser_odom_to_init
1317358105.649409055 WriteOdom aft_mapped_to_init_high_frec
build tree time 28.327764 ms 
mapping data assosiation time 16.822508 ms 
--------------------stamp1317358105.753350973
mapping data assosiation time 16.999220 ms 
mapping solver time 14.205839 ms 
filter time 9.848776 ms 
build tree time 28.560300 ms 
mapping data assosiation time 16.779474 ms 
points size 71713 
sort q time 4.416485 
seperate points time 9.069112 
scan registration time 20.088047 ms *************
-----t: 0.0264859
OdomCount 3310 & avg odom time 0.046663 ms ++++++++++++++++++++++
filter time 7.757839 ms 
mapping pub time 1.594195 ms 
whole mapping time 106.890562 ms +++++
mappingCount 2104 & avg mapping time 159.381705 ms ++++++++++++++++++++++
1317358105.753350973 WriteOdom aft_mapped_to_init
map prepare time 1.926581 ms
map corner num 103218  surf num 38379 
build tree time 21.414627 ms 
mapping data assosiation time 13.481022 ms 
--------------------stamp1317358105.961308956
prepare time 7.719468 
sort q time 4.166497 
seperate points time 8.508831 
publication time 4.582906 ms 
whole laserOdometry time 4.599436 ms 
 
mapping solver time 12.654238 ms 
filter time 7.450779 ms 
build tree time 19.763518 ms 
mapping data assosiation time 12.269084 ms 
mapping solver time 14.334066 ms 
points size 72077 
prepare time 8.814470 
mapping data assosiation time 14.880340 ms 
mapping solver time 16.321019 ms 
mapping optimization time 78.643409 
add points time 0.706501 ms
publication time 5.585319 ms 
whole laserOdometry time 5.603418 ms 
 
filter time 9.657156 ms 
-----t: 0.0374242
OdomCount 3312 & avg odom time 0.046656 ms ++++++++++++++++++++++
build tree time 21.313944 ms 
mapping data assosiation time 14.128774 ms 
--------------------stamp1317358106.169337987
sort q time 4.467418 
seperate points time 9.479424 
-----t: 0.0274732
OdomCount 3313 & avg odom time 0.046650 ms ++++++++++++++++++++++
1317358106.169337987 WriteOdom laser_odom_to_init
1317358106.169337987 WriteOdom aft_mapped_to_init_high_frec
filter time 9.942578 ms 
build tree time 27.278099 ms 
mapping data assosiation time 13.884520 ms 
mapping solver time 16.328869 ms 
mapping data assosiation time 15.914250 ms 
mapping solver time 14.959120 ms 
mapping pub time 1.660184 ms 
whole mapping time 101.626934 ms +++++
mappingCount 2108 & avg mapping time 159.271631 ms ++++++++++++++++++++++
build tree time 21.693504 ms 
mapping data assosiation time 14.598634 ms 
mapping solver time 19.391099 ms 
mapping data assosiation time 15.719943 ms 
mapping solver time 12.321300 ms 
mapping pub time 1.711606 ms 
whole mapping time 95.321671 ms +++++
mappingCount 2109 & avg mapping time 159.241314 ms ++++++++++++++++++++++
build tree time 22.676287 ms 
mapping data assosiation time 12.720285 ms 
mapping solver time 14.866498 ms 
sort q time 4.045525 
seperate points time 9.480118 
publication time 6.115632 ms 
whole laserOdometry time 6.127591 ms 
 
mapping pub time 1.691380 ms 
whole mapping time 90.425562 ms +++++
mappingCount 2110 & avg mapping time 159.208707 ms ++++++++++++++++++++++
build tree time 21.891216 ms 
mapping data assosiation time 12.865732 ms 
mapping solver time 13.434444 ms 
mapping data assosiation time 15.430335 ms 
sort q time 3.666556 
seperate points time 8.800659 
publication time 4.865360 ms 
whole laserOdometry time 4.879050 ms 
 
map prepare time 1.897233 ms
map corner num 110489  surf num 42324 
build tree time 25.311407 ms 
mapping data assosiation time 13.285546 ms 
mapping solver time 13.834023 ms 
points size 67350 
publication time 4.485865 ms 
whole laserOdometry time 4.517175 ms 
 
-----t: 0.022347
OdomCount 3318 & avg odom time 0.046617 ms ++++++++++++++++++++++
map prepare time 2.622162 ms
map corner num 110774  surf num 42428 
build tree time 30.612983 ms 
mapping data assosiation time 16.357955 ms 
--------------------stamp1317358106.793333053
mapping solver time 18.876229 ms 
sort q time 9.924404 
seperate points time 14.736487 
1317358106.793333053 WriteOdom aft_mapped_to_init_high_frec
add points time 0.570375 ms
filter time 10.451930 ms 
build tree time 31.130500 ms 
--------------------stamp1317358106.897347927
sort q time 4.000632 
seperate points time 7.492170 
scan registration time 16.455274 ms *************
mapping data assosiation time 16.107417 ms 
mapping solver time 13.960292 ms 
filter time 10.731049 ms 
--------------------stamp1317358107.001360893
mapping data assosiation time 16.240926 ms 
publication time 4.969351 ms 
whole laserOdometry time 4.989194 ms 
 
points size 67824 
sort q time 3.458769 
seperate points time 6.942978 
publication time 4.113383 ms 
whole laserOdometry time 4.143868 ms 
 
mapping data assosiation time 16.322193 ms 
mapping solver time 14.961752 ms 
filter time 7.051015 ms 
build tree time 24.501726 ms 
mapping data assosiation time 14.106415 ms 
publication time 6.472204 ms 
whole laserOdometry time 6.483429 ms 
 
mapping data assosiation time 13.827888 ms 
mapping solver time 10.331484 ms 
filter time 7.164116 ms 
mapping pub time 1.548688 ms 
whole mapping time 96.455651 ms +++++
mappingCount 2117 & avg mapping time 159.029194 ms ++++++++++++++++++++++
1317358107.105376005 WriteOdom aft_mapped_to_init
map prepare time 1.878535 ms
map corner num 112194  surf num 42852 
build tree time 24.799639 ms 
--------------------stamp1317358107.313409090
sort q time 2.824974 
seperate points time 6.172815 
publication time 6.257789 ms 
whole laserOdometry time 6.267143 ms 
 
-----t: 0.0218032
OdomCount 3324 & avg odom time 0.046580 ms ++++++++++++++++++++++
1317358107.313409090 WriteOdom laser_odom_to_init
mapping solver time 14.197148 ms 
filter time 7.393170 ms 
build tree time 22.784447 ms 
mapping data assosiation time 12.043892 ms 
mapping solver time 21.638673 ms 
publication time 5.338427 ms 
whole laserOdometry time 5.349206 ms 
 
1317358107.417398929 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 92.783146 
filter time 9.778922 ms 
build tree time 24.284023 ms 
mapping data assosiation time 13.928680 ms 
sort q time 3.063420 
seperate points time 7.459304 
publication time 5.228445 ms 
whole laserOdometry time 5.243389 ms 
 
1317358107.521388053 WriteOdom laser_odom_to_init
1317358107.521388053 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 14.320594 ms 
mapping pub time 1.360616 ms 
whole mapping time 100.380885 ms +++++
mappingCount 2120 & avg mapping time 158.948171 ms ++++++++++++++++++++++
build tree time 14.431554 ms 
mapping data assosiation time 11.791366 ms 
--------------------stamp1317358107.625401973
sort q time 3.041585 
seperate points time 7.109471 
-----t: 0.0211987
OdomCount 3327 & avg odom time 0.046559 ms ++++++++++++++++++++++
publication time 3.966709 ms 
whole laserOdometry time 3.980487 ms 
 
--------------------stamp1317358107.729393959
sort q time 3.362299 
seperate points time 6.839286 
scan registration time 14.449474 ms *************
drop lidar frame in mapping for real time performance 
build tree time 15.231755 ms 
mapping data assosiation time 13.703718 ms 
mapping solver time 15.006063 ms 
mapping data assosiation time 11.331515 ms 
mapping solver time 10.993643 ms 
sort q time 3.268627 
seperate points time 6.894925 
publication time 4.562086 ms 
whole laserOdometry time 4.576133 ms 
 
build tree time 15.499067 ms 
mapping data assosiation time 13.568237 ms 
mapping solver time 17.021086 ms 
mapping data assosiation time 11.914464 ms 
--------------------stamp1317358107.937350988
points size 61150 
sort q time 3.260747 
seperate points time 7.866065 
publication time 7.133732 ms 
whole laserOdometry time 7.143821 ms 
 
map prepare time 1.519301 ms
map corner num 74109  surf num 25390 
build tree time 18.730923 ms 
mapping data assosiation time 12.524156 ms 
mapping solver time 15.752249 ms 
--------------------stamp1317358108.041341066
sort q time 3.182650 
seperate points time 7.724987 
filter time 5.611726 ms 
map prepare time 1.754859 ms
map corner num 74400  surf num 25537 
build tree time 14.453474 ms 
mapping data assosiation time 11.406078 ms 
mapping solver time 15.467504 ms 
mapping data assosiation time 11.656231 ms 
--------------------stamp1317358108.145306110
sort q time 2.727882 
seperate points time 6.039676 
filter time 4.941881 ms 
publication time 4.492842 ms 
whole laserOdometry time 4.506596 ms 
 
-----t: 0.0242122
OdomCount 3332 & avg odom time 0.046523 ms ++++++++++++++++++++++
build tree time 17.859137 ms 
mapping data assosiation time 12.918747 ms 
mapping solver time 12.798474 ms 
mapping data assosiation time 12.633466 ms 
mapping solver time 11.874814 ms 
[0m[ INFO] [1718890191.162706850, 1317358108.263326754]: Received 100726 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890191.162756995, 1317358108.263326754]: Data saved to 1317358108145306.pcd[0m
publication time 5.588397 ms 
whole laserOdometry time 5.611408 ms 
 
-----t: 0.025034
OdomCount 3333 & avg odom time 0.046516 ms ++++++++++++++++++++++
build tree time 15.726140 ms 
mapping data assosiation time 12.487767 ms 
mapping solver time 14.150048 ms 
mapping data assosiation time 12.233282 ms 
mapping solver time 12.480987 ms 
publication time 3.833005 ms 
whole laserOdometry time 3.862666 ms 
 
-----t: 0.029317
OdomCount 3334 & avg odom time 0.046511 ms ++++++++++++++++++++++
build tree time 16.037964 ms 
mapping data assosiation time 13.885089 ms 
mapping solver time 15.508785 ms 
points size 64311 
mapping solver time 13.152298 ms 
mapping optimization time 74.672702 
-----t: 0.0262339
OdomCount 3335 & avg odom time 0.046505 ms ++++++++++++++++++++++
build tree time 16.542675 ms 
mapping data assosiation time 13.581280 ms 
mapping solver time 17.426165 ms 
--------------------stamp1317358108.561249017
sort q time 3.323917 
seperate points time 7.119839 
filter time 7.225055 ms 
-----t: 0.028517
OdomCount 3336 & avg odom time 0.046500 ms ++++++++++++++++++++++
build tree time 16.149218 ms 
mapping data assosiation time 14.679225 ms 
mapping solver time 17.054398 ms 
--------------------stamp1317358108.665239095
sort q time 3.532140 
seperate points time 7.391058 
filter time 7.179057 ms 
build tree time 14.696234 ms 
mapping data assosiation time 14.338136 ms 
mapping solver time 14.847607 ms 
mapping data assosiation time 14.082242 ms 
--------------------stamp1317358108.769206047
filter time 7.342639 ms 
[0m[ INFO] [1718890191.682081210, 1317358108.781651477]: Received 102885 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 3.123033 ms 
whole mapping time 84.069827 ms +++++
mappingCount 2131 & avg mapping time 158.604313 ms ++++++++++++++++++++++
[0m[ INFO] [1718890191.682146180, 1317358108.781651477]: Data saved to 1317358108665239.pcd[0m
1317358108.665239096 WriteOdom aft_mapped_to_init
sort q time 3.466250 
seperate points time 7.530368 
scan registration time 15.336548 ms *************
-----t: 0.0197238
OdomCount 3338 & avg odom time 0.046484 ms ++++++++++++++++++++++
build tree time 16.924673 ms 
mapping data assosiation time 13.732431 ms 
mapping solver time 14.398833 ms 
mapping data assosiation time 13.115091 ms 
mapping solver time 12.031445 ms 
scan registration time 19.635513 ms *************
publication time 5.130522 ms 
whole laserOdometry time 5.147524 ms 
 
-----t: 0.0380789
OdomCount 3339 & avg odom time 0.046481 ms ++++++++++++++++++++++
build tree time 21.094497 ms 
mapping data assosiation time 17.128965 ms 
points size 64210 
prepare time 6.809720 
mapping solver time 20.071826 ms 
sort q time 3.415462 
seperate points time 7.945993 
publication time 4.650896 ms 
whole laserOdometry time 4.661867 ms 
 
mapping solver time 19.141655 ms 
filter time 7.688588 ms 
build tree time 20.890671 ms 
mapping data assosiation time 17.239095 ms 
sort q time 3.770523 
seperate points time 7.286200 
scan registration time 16.433412 ms *************
mapping data assosiation time 17.811116 ms 
-----t: 0.0316815
OdomCount 3341 & avg odom time 0.046470 ms ++++++++++++++++++++++
1317358109.081147909 WriteOdom laser_odom_to_init
1317358109.081147909 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.884591 ms 
mapping pub time 1.498280 ms 
whole mapping time 107.858604 ms +++++
mappingCount 2134 & avg mapping time 158.520222 ms ++++++++++++++++++++++
build tree time 14.970448 ms 
mapping data assosiation time 14.227016 ms 
points size 64068 
publication time 5.765609 ms 
whole laserOdometry time 5.782876 ms 
 
mapping solver time 15.112801 ms 
-----t: 0.0497427
OdomCount 3342 & avg odom time 0.046471 ms ++++++++++++++++++++++
build tree time 17.795335 ms 
--------------------stamp1317358109.289114952
mapping solver time 17.087116 ms 
publication time 6.141982 ms 
whole laserOdometry time 6.161569 ms 
 
mapping optimization time 79.752073 
-----t: 0.0284478
OdomCount 3343 & avg odom time 0.046465 ms ++++++++++++++++++++++
1317358109.289114952 WriteOdom laser_odom_to_init
1317358109.289114952 WriteOdom aft_mapped_to_init_high_frec
add points time 0.625854 ms
filter time 6.154053 ms 
build tree time 20.726939 ms 
mapping data assosiation time 16.537736 ms 
--------------------stamp1317358109.393105983
mapping solver time 22.929937 ms 
mapping data assosiation time 16.921032 ms 
publication time 6.248537 ms 
whole laserOdometry time 6.260991 ms 
 
-----t: 0.036433
OdomCount 3344 & avg odom time 0.046462 ms ++++++++++++++++++++++
build tree time 16.060084 ms 
mapping data assosiation time 16.426638 ms 
points size 65911 
sort q time 4.005296 
seperate points time 9.739294 
mapping solver time 14.165619 ms 
map prepare time 1.751790 ms
map corner num 78992  surf num 26964 
build tree time 18.061506 ms 
mapping data assosiation time 14.617719 ms 
mapping solver time 15.968630 ms 
mapping data assosiation time 15.949247 ms 
sort q time 3.539502 
seperate points time 7.257728 
mapping solver time 13.605778 ms 
mapping pub time 1.526873 ms 
whole mapping time 90.820596 ms +++++
mappingCount 2139 & avg mapping time 158.373044 ms ++++++++++++++++++++++
map prepare time 1.627851 ms
map corner num 79306  surf num 27062 
build tree time 18.005435 ms 
mapping data assosiation time 14.598206 ms 
mapping solver time 14.855103 ms 
points size 65668 
sort q time 3.804073 
seperate points time 7.468586 
scan registration time 15.207501 ms *************
-----t: 0.0224332
OdomCount 3347 & avg odom time 0.046444 ms ++++++++++++++++++++++
build tree time 15.746223 ms 
mapping data assosiation time 16.012736 ms 
mapping solver time 17.026177 ms 
points size 66411 
prepare time 6.489185 
mapping data assosiation time 17.150582 ms 
-----t: 0.0423521
OdomCount 3348 & avg odom time 0.046443 ms ++++++++++++++++++++++
1317358109.809112071 WriteOdom laser_odom_to_init
1317358109.809112071 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358109.913103103
sort q time 3.715831 
seperate points time 9.206487 
publication time 6.027056 ms 
whole laserOdometry time 6.037758 ms 
 
-----t: 0.0313584
OdomCount 3349 & avg odom time 0.046438 ms ++++++++++++++++++++++
mapping data assosiation time 15.936406 ms 
mapping solver time 19.835484 ms 
mapping data assosiation time 16.252529 ms 
points size 68603 
filter time 7.126356 ms 
publication time 6.075339 ms 
whole laserOdometry time 6.087483 ms 
 
mapping data assosiation time 15.673973 ms 
mapping solver time 15.803991 ms 
mapping data assosiation time 15.709267 ms 
--------------------stamp1317358110.121130943
prepare time 9.058841 
map prepare time 2.407531 ms
map corner num 80575  surf num 27446 
publication time 6.097689 ms 
whole laserOdometry time 6.124879 ms 
 
-----t: 0.0365224
OdomCount 3351 & avg odom time 0.046431 ms ++++++++++++++++++++++
1317358110.121130943 WriteOdom laser_odom_to_init
1317358110.121130943 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.197040 ms 
mapping solver time 21.724463 ms 
mapping data assosiation time 15.284764 ms 
--------------------stamp1317358110.225171089
filter time 5.609396 ms 
publication time 7.015574 ms 
whole laserOdometry time 7.030360 ms 
 
1317358110.225171089 WriteOdom laser_odom_to_init
1317358110.225171089 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.937943 ms 
mapping data assosiation time 16.439302 ms 
--------------------stamp1317358110.329210042
filter time 7.521845 ms 
publication time 6.239128 ms 
whole laserOdometry time 6.326644 ms 
 
-----t: 0.0319007
OdomCount 3353 & avg odom time 0.046423 ms ++++++++++++++++++++++
mapping data assosiation time 16.154560 ms 
mapping solver time 16.413725 ms 
mapping data assosiation time 16.026232 ms 
--------------------stamp1317358110.433227062
filter time 8.165189 ms 
[0m[ INFO] [1718890193.346113956, 1317358110.443092830]: Received 109098 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890193.346188334, 1317358110.443092830]: Data saved to 1317358110225171.pcd[0m
mapping pub time 3.887614 ms 
whole mapping time 102.177287 ms +++++
mappingCount 2146 & avg mapping time 158.223047 ms ++++++++++++++++++++++
1317358110.225171089 WriteOdom aft_mapped_to_init
map prepare time 2.403163 ms
map corner num 81437  surf num 27661 
sort q time 4.027957 
seperate points time 10.521555 
publication time 7.270397 ms 
whole laserOdometry time 7.282728 ms 
 
-----t: 0.0322702
OdomCount 3354 & avg odom time 0.046419 ms ++++++++++++++++++++++
mapping data assosiation time 18.042591 ms 
mapping solver time 17.046792 ms 
mapping data assosiation time 16.014094 ms 
--------------------stamp1317358110.537240028
filter time 8.154351 ms 
build tree time 18.270132 ms 
mapping data assosiation time 17.846322 ms 
mapping solver time 17.313266 ms 
mapping data assosiation time 17.560988 ms 
--------------------stamp1317358110.641253948
mapping pub time 1.652393 ms 
whole mapping time 98.329988 ms +++++
mappingCount 2148 & avg mapping time 158.169289 ms ++++++++++++++++++++++
publication time 6.215958 ms 
whole laserOdometry time 6.227958 ms 
 
mapping data assosiation time 17.580860 ms 
mapping solver time 16.739650 ms 
mapping data assosiation time 18.907634 ms 
--------------------stamp1317358110.745245933
prepare time 9.807373 
sort q time 5.424249 
seperate points time 11.940513 
publication time 7.198306 ms 
whole laserOdometry time 7.218960 ms 
 
build tree time 20.978139 ms 
mapping data assosiation time 19.404816 ms 
mapping solver time 17.785196 ms 
mapping data assosiation time 16.139942 ms 
--------------------stamp1317358110.849235057
points size 81162 
sort q time 4.412084 
seperate points time 10.683083 
map prepare time 2.828790 ms
map corner num 82545  surf num 28003 
publication time 5.577581 ms 
whole laserOdometry time 5.591005 ms 
 
mapping data assosiation time 16.385845 ms 
mapping solver time 17.169662 ms 
--------------------stamp1317358110.953250885
points size 82332 
prepare time 9.951756 
filter time 8.640896 ms 
[0m[ INFO] [1718890193.867918872, 1317358110.962850400]: Received 110901 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 3.437471 ms 
whole mapping time 101.661578 ms +++++
[0m[ INFO] [1718890193.868009927, 1317358110.962850400]: Data saved to 1317358110745245.pcd[0m
mappingCount 2151 & avg mapping time 158.092658 ms ++++++++++++++++++++++
publication time 6.590791 ms 
whole laserOdometry time 6.617726 ms 
 
mapping data assosiation time 17.942236 ms 
mapping solver time 17.892931 ms 
mapping data assosiation time 17.018426 ms 
--------------------stamp1317358111.057240962
filter time 7.503654 ms 
publication time 6.875231 ms 
whole laserOdometry time 6.894246 ms 
 
build tree time 26.015621 ms 
mapping data assosiation time 19.767162 ms 
mapping solver time 18.242955 ms 
mapping data assosiation time 17.481167 ms 
points size 84403 
sort q time 5.152636 
seperate points time 10.939094 
publication time 9.178537 ms 
whole laserOdometry time 9.206291 ms 
 
build tree time 21.400352 ms 
-----t: 0.0460369
OdomCount 3361 & avg odom time 0.046395 ms ++++++++++++++++++++++
1317358111.161228895 WriteOdom laser_odom_to_init
1317358111.161228895 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.501362 ms 
mapping solver time 13.910808 ms 
mapping data assosiation time 19.028842 ms 
mapping solver time 11.866110 ms 
mapping pub time 2.291480 ms 
whole mapping time 98.457184 ms +++++
mappingCount 2154 & avg mapping time 158.016397 ms ++++++++++++++++++++++
publication time 8.406430 ms -----t: 0.0433382
OdomCount 3362 & avg odom time 0.046394 ms ++++++++++++++++++++++
1317358111.265222072 WriteOdom laser_odom_to_init
1317358111.265222072 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 16.978331 ms 
mapping solver time 19.143513 ms 
mapping data assosiation time 19.325177 ms 
mapping solver time 19.656754 ms 
filter time 8.170788 ms 
publication time 7.999038 ms 
whole laserOdometry time 8.016773 ms 
 
build tree time 20.394698 ms 
mapping data assosiation time 16.873134 ms 
mapping solver time 18.480686 ms 
--------------------stamp1317358111.473133087
sort q time 4.680706 
seperate points time 9.715218 
filter time 8.309156 ms 
build tree time 18.713703 ms 
mapping data assosiation time 18.919758 ms 
mapping solver time 14.814908 ms 
points size 88663 
sort q time 5.763404 
seperate points time 11.424300 
scan registration time 21.417473 ms *************
publication time 6.106699 ms 
whole laserOdometry time 6.122484 ms 
 
map prepare time 2.294826 ms
map corner num 84341  surf num 28554 
build tree time 17.277541 ms 
mapping data assosiation time 18.930154 ms 
--------------------stamp1317358111.680974960
sort q time 5.300113 
seperate points time 10.442603 
publication time 8.000631 ms 
mapping pub time 1.968502 ms 
whole mapping time 108.846018 ms +++++
mappingCount 2158 & avg mapping time 157.921547 ms ++++++++++++++++++++++
build tree time 17.033968 ms 
mapping data assosiation time 19.042703 ms 
points size 89733 
sort q time 4.990944 
seperate points time 11.752058 
mapping data assosiation time 21.326614 ms 
-----t: 0.044877
OdomCount 3367 & avg odom time 0.046380 ms ++++++++++++++++++++++
1317358111.784919023 WriteOdom laser_odom_to_init
1317358111.784919023 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.313077 ms 
mapping optimization time 101.110908 
add points time 0.677369 ms
map prepare time 2.219705 ms
map corner num 84846  surf num 28736 
build tree time 17.465453 ms 
--------------------stamp1317358111.888854980
points size 90483 
sort q time 4.949978 
seperate points time 11.897758 
publication time 8.593115 ms 
whole laserOdometry time 8.609684 ms 
 
-----t: 0.038917
OdomCount 3368 & avg odom time 0.046378 ms ++++++++++++++++++++++
mapping solver time 16.718702 ms 
mapping pub time 2.089842 ms 
whole mapping time 112.986946 ms +++++
mappingCount 2160 & avg mapping time 157.879356 ms ++++++++++++++++++++++
build tree time 15.870008 ms 
mapping data assosiation time 21.346103 ms 
publication time 7.502396 ms 
whole laserOdometry time 7.521795 ms 
 
mapping solver time 24.216016 ms 
mapping data assosiation time 19.143173 ms 
mapping solver time 14.187131 ms 
[0m[ INFO] [1718890194.977499284, 1317358112.072436984]: Received 114178 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890194.977560991, 1317358112.072436984]: Data saved to 1317358111888854.pcd[0m
--------------------stamp1317358112.096740961
sort q time 5.574397 
seperate points time 10.852764 
publication time 8.579737 ms 
whole laserOdometry time 8.596798 ms 
 
-----t: 0.0371201
OdomCount 3370 & avg odom time 0.046371 ms ++++++++++++++++++++++
mapping pub time 99.829045 ms 
whole mapping time 204.598205 ms +++++
mappingCount 2161 & avg mapping time 157.900976 ms ++++++++++++++++++++++
build tree time 18.218118 ms 
points size 92169 
sort q time 5.541647 
seperate points time 13.079143 
publication time 8.648186 ms 
whole laserOdometry time 8.661711 ms 
 
-----t: 0.0457975
OdomCount 3371 & avg odom time 0.046371 ms ++++++++++++++++++++++
mapping solver time 14.090199 ms 
mapping optimization time 102.442424 
add points time 0.726642 ms
filter time 7.742351 ms 
--------------------stamp1317358112.304578065
sort q time 4.347010 
seperate points time 10.050474 
mapping solver time 23.122332 ms 
mapping data assosiation time 22.927146 ms 
--------------------stamp1317358112.408504009
prepare time 11.721493 
sort q time 5.873275 
seperate points time 12.967517 
publication time 8.779211 ms 
whole laserOdometry time 8.793327 ms 
 
mapping data assosiation time 22.857539 ms 
-----t: 0.0431039
OdomCount 3373 & avg odom time 0.046373 ms ++++++++++++++++++++++
1317358112.408504009 WriteOdom laser_odom_to_init
1317358112.408504009 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.923308 ms 
mapping data assosiation time 19.107353 ms 
points size 96243 
sort q time 5.540861 
seperate points time 12.189761 
publication time 8.834160 ms 
whole laserOdometry time 8.870225 ms 
 
build tree time 20.915511 ms 
mapping data assosiation time 19.613834 ms 
mapping solver time 19.797310 ms 
--------------------stamp1317358112.616336107
mapping data assosiation time 23.292567 ms 
sort q time 5.228342 
seperate points time 12.502645 
mapping solver time 12.731675 ms 
mapping optimization time 97.701332 
add points time 0.766774 ms
scan registration time 28.798397 ms *************
map prepare time 3.015307 ms
map corner num 86449  surf num 29380 
-----t: 0.0346251
OdomCount 3375 & avg odom time 0.046366 ms ++++++++++++++++++++++
1317358112.616336107 WriteOdom laser_odom_to_init
1317358112.616336107 WriteOdom aft_mapped_to_init_high_frec
publication time 8.615401 ms 
whole laserOdometry time 8.628208 ms 
 
build tree time 18.935824 ms 
mapping data assosiation time 18.746594 ms 
--------------------stamp1317358112.720231056
prepare time 11.133881 
mapping data assosiation time 24.866445 ms 
mapping solver time 18.042505 ms 
[0m[ INFO] [1718890195.671173012, 1317358112.767510997]: Received 116316 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890195.671213052, 1317358112.767510997]: Data saved to 1317358112512423.pcd[0m
build tree time 16.380414 ms 
mapping data assosiation time 19.884601 ms 
--------------------stamp1317358112.824101924
prepare time 13.496662 
sort q time 6.661044 
seperate points time 14.225598 
mapping data assosiation time 25.757601 ms 
-----t: 0.0386806
OdomCount 3377 & avg odom time 0.046362 ms ++++++++++++++++++++++
filter time 5.977088 ms 
build tree time 16.156792 ms 
--------------------stamp1317358112.927994012
points size 95576 
sort q time 5.485259 
seperate points time 12.818776 
scan registration time 31.011997 ms *************
publication time 10.438967 ms 
whole laserOdometry time 10.454793 ms -----t: 0.0462664
OdomCount 3378 & avg odom time 0.046362 ms ++++++++++++++++++++++
mapping solver time 17.016507 ms 
filter time 6.053211 ms 
mapping pub time 2.122925 ms 
whole mapping time 120.470716 ms +++++
mappingCount 2168 & avg mapping time 157.769951 ms ++++++++++++++++++++++
1317358112.824101925 WriteOdom aft_mapped_to_init
--------------------stamp1317358113.031888961
build tree time 20.219664 ms 
sort q time 5.399844 
seperate points time 12.899611 
publication time 10.263164 ms 
whole laserOdometry time 10.284721 ms 
 
mapping data assosiation time 23.944752 ms 
mapping solver time 15.421057 ms 
mapping pub time 2.219419 ms 
whole mapping time 122.200834 ms +++++
mappingCount 2169 & avg mapping time 157.753554 ms ++++++++++++++++++++++
sort q time 4.981592 
seperate points time 11.619128 
-----t: 0.034214
OdomCount 3380 & avg odom time 0.046358 ms ++++++++++++++++++++++
mapping solver time 20.514600 ms 
mapping data assosiation time 19.543411 ms 
mapping solver time 16.210510 ms 
sort q time 4.905936 
seperate points time 11.474847 
publication time 7.595302 ms 
whole laserOdometry time 7.610757 ms 
 
-----t: 0.0444244
OdomCount 3381 & avg odom time 0.046357 ms ++++++++++++++++++++++
mapping data assosiation time 21.337908 ms 
mapping solver time 21.308427 ms 
points size 91365 
sort q time 5.909332 
seperate points time 11.700225 
filter time 5.878325 ms 
build tree time 17.618865 ms 
mapping data assosiation time 23.287099 ms 
--------------------stamp1317358113.447494983
sort q time 5.151850 
seperate points time 11.585910 
publication time 10.851615 ms 
whole laserOdometry time 10.866575 ms 
 
filter time 6.205275 ms 
build tree time 17.884552 ms 
--------------------stamp1317358113.551389932
points size 88299 
sort q time 4.890434 
seperate points time 11.757977 
mapping solver time 31.532815 ms 
publication time 10.014790 ms 
whole laserOdometry time 10.026687 ms 
 
mapping data assosiation time 24.824355 ms 
mapping solver time 21.595336 ms 
mapping pub time 2.063040 ms 
whole mapping time 133.023187 ms +++++
mappingCount 2173 & avg mapping time 157.691367 ms ++++++++++++++++++++++
points size 87214 
sort q time 4.771875 
seperate points time 11.359811 
mapping data assosiation time 26.217720 ms 
-----t: 0.0378756
OdomCount 3385 & avg odom time 0.046352 ms ++++++++++++++++++++++
mapping solver time 28.342666 ms 
mapping data assosiation time 21.432282 ms 
--------------------stamp1317358113.759200096
mapping solver time 23.117712 ms 
mapping pub time 1.981398 ms 
whole mapping time 134.054465 ms +++++
mappingCount 2174 & avg mapping time 157.680497 ms ++++++++++++++++++++++
1317358113.551389933 WriteOdom aft_mapped_to_init
map prepare time 3.602764 ms
map corner num 89819  surf num 31068 
build tree time 20.850308 ms 
mapping data assosiation time 21.722941 ms 
mapping solver time 20.093123 ms 
--------------------stamp1317358113.863095998
mapping data assosiation time 25.790160 ms 
mapping solver time 19.967541 ms 
mapping pub time 2.026759 ms 
whole mapping time 124.721979 ms +++++
mappingCount 2175 & avg mapping time 157.665346 ms ++++++++++++++++++++++
build tree time 20.629952 ms 
mapping data assosiation time 20.955852 ms 
points size 84504 
sort q time 4.154662 
seperate points time 10.012897 
scan registration time 21.123557 ms *************
mapping data assosiation time 25.281873 ms 
mapping solver time 16.703503 ms 
mapping optimization time 108.036605 
add points time 0.754706 ms
map prepare time 2.326684 ms
map corner num 90602  surf num 31348 
build tree time 18.726288 ms 
--------------------stamp1317358114.070956945
mapping solver time 23.921674 ms 
-----t: 0.0338562
OdomCount 3389 & avg odom time 0.046338 ms ++++++++++++++++++++++
mapping solver time 14.343303 ms 
mapping optimization time 105.413078 
add points time 0.772674 ms
--------------------stamp1317358114.174876928
mapping data assosiation time 24.078803 ms 
-----t: 0.0383211
OdomCount 3390 & avg odom time 0.046336 ms ++++++++++++++++++++++
mapping data assosiation time 19.364642 ms 
mapping solver time 16.242744 ms 
mapping pub time 1.940291 ms 
whole mapping time 120.737691 ms +++++
mappingCount 2178 & avg mapping time 157.612784 ms ++++++++++++++++++++++
points size 78950 
sort q time 5.426740 
seperate points time 11.724610 
publication time 10.314002 ms 
whole laserOdometry time 10.328368 ms 
 
mapping solver time 18.274665 ms 
mapping data assosiation time 19.573291 ms 
mapping solver time 15.810273 ms 
points size 77176 
sort q time 4.915714 
seperate points time 9.936428 
scan registration time 19.477996 ms *************
publication time 7.973592 ms 
whole laserOdometry time 7.987355 ms 
 
mapping data assosiation time 21.848177 ms 
mapping solver time 20.587078 ms 
mapping data assosiation time 17.927546 ms 
points size 74806 
sort q time 4.391305 
seperate points time 9.864152 
publication time 7.100973 ms 
whole laserOdometry time 7.114235 ms 
 
build tree time 22.516838 ms 
mapping data assosiation time 18.282174 ms 
mapping solver time 18.222659 ms 
--------------------stamp1317358114.590696096
sort q time 4.056705 
seperate points time 9.867651 
add points time 0.814231 ms
-----t: 0.0325365
OdomCount 3394 & avg odom time 0.046327 ms ++++++++++++++++++++++
--------------------stamp1317358114.694641113
sort q time 4.026073 
seperate points time 9.970962 
scan registration time 20.135727 ms *************
map prepare time 2.445457 ms
map corner num 92344  surf num 31878 
publication time 6.422380 ms 
whole laserOdometry time 6.452788 ms 
 
build tree time 23.013761 ms 
mapping data assosiation time 17.495420 ms 
mapping solver time 24.119398 ms 
points size 71675 
sort q time 3.844867 
seperate points time 9.197606 
mapping solver time 21.392549 ms 
mapping optimization time 107.597257 
add points time 0.950215 ms
build tree time 19.773998 ms 
mapping data assosiation time 17.816091 ms 
--------------------stamp1317358114.902573108
sort q time 3.844433 
seperate points time 9.355443 
mapping data assosiation time 19.646789 ms 
publication time 6.543134 ms 
whole laserOdometry time 6.559093 ms 
 
mapping data assosiation time 15.715151 ms 
points size 71742 
prepare time 7.340123 
mapping solver time 18.570592 ms 
publication time 6.231469 ms 
whole laserOdometry time 6.245713 ms 
 
-----t: 0.0279697
OdomCount 3398 & avg odom time 0.046310 ms ++++++++++++++++++++++
mapping solver time 16.867969 ms 
mapping optimization time 93.424691 
add points time 0.746375 ms
build tree time 18.103179 ms 
mapping data assosiation time 15.546191 ms 
--------------------stamp1317358115.110505104
sort q time 3.683985 
seperate points time 8.010167 
-----t: 0.0261732
OdomCount 3399 & avg odom time 0.046304 ms ++++++++++++++++++++++
mapping pub time 1.773005 ms 
whole mapping time 97.946670 ms +++++
mappingCount 2185 & avg mapping time 157.507391 ms ++++++++++++++++++++++
1317358115.006539106 WriteOdom aft_mapped_to_init
map prepare time 1.936022 ms
map corner num 93659  surf num 32165 
build tree time 18.328751 ms 
mapping data assosiation time 17.609785 ms 
--------------------stamp1317358115.214497089
sort q time 4.251961 
seperate points time 8.195155 
publication time 5.005114 ms 
whole laserOdometry time 5.018369 ms 
 
filter time 6.107863 ms 
build tree time 18.065225 ms 
mapping data assosiation time 14.908164 ms 
mapping solver time 15.532260 ms 
mapping data assosiation time 17.512391 ms 
mapping solver time 14.548867 ms 
mapping pub time 1.595783 ms 
whole mapping time 94.805892 ms +++++
mappingCount 2187 & avg mapping time 157.451570 ms ++++++++++++++++++++++
build tree time 19.060185 ms 
mapping data assosiation time 14.458638 ms 
mapping solver time 15.987020 ms 
points size 69731 
scan registration time 17.832431 ms *************
filter time 6.538850 ms 
-----t: 0.0334857
OdomCount 3402 & avg odom time 0.046289 ms ++++++++++++++++++++++
build tree time 19.470232 ms 
mapping data assosiation time 13.873530 ms 
points size 68640 
prepare time 7.806499 
mapping solver time 17.252048 ms 
mapping data assosiation time 17.299338 ms 
mapping solver time 21.025858 ms 
filter time 8.285664 ms 
build tree time 21.944537 ms 
mapping data assosiation time 16.271614 ms 
sort q time 3.991592 
seperate points time 7.803198 
publication time 5.773908 ms 
whole laserOdometry time 5.786795 ms 
 
-----t: 0.0268482
OdomCount 3404 & avg odom time 0.046280 ms ++++++++++++++++++++++
add points time 0.617850 ms
map prepare time 1.852440 ms
map corner num 94859  surf num 32453 
build tree time 19.811283 ms 
mapping data assosiation time 13.068486 ms 
--------------------stamp1317358115.734304904
sort q time 3.755436 
seperate points time 7.398354 
publication time 5.073489 ms 
whole laserOdometry time 5.089237 ms 
 
mapping solver time 12.020463 ms 
mapping optimization time 76.452912 
add points time 0.635416 ms
map prepare time 2.621745 ms
map corner num 95104  surf num 32518 
build tree time 25.688570 ms 
mapping data assosiation time 16.497684 ms 
--------------------stamp1317358115.838272094
sort q time 3.477650 
seperate points time 7.670552 
scan registration time 17.393651 ms *************
-----t: 0.0226853
OdomCount 3406 & avg odom time 0.046266 ms ++++++++++++++++++++++
filter time 9.089083 ms 
build tree time 25.332115 ms 
mapping data assosiation time 16.397096 ms 
mapping solver time 14.996107 ms 
sort q time 4.070843 
seperate points time 8.786212 
publication time 4.788627 ms 
whole laserOdometry time 4.813428 ms 
 
filter time 7.816997 ms 
build tree time 21.306596 ms 
mapping data assosiation time 14.475885 ms 
mapping solver time 14.886852 ms 
points size 70763 
sort q time 4.344848 
seperate points time 14.909189 
scan registration time 24.422595 ms *************
map prepare time 1.841120 ms
map corner num 95795  surf num 32696 
build tree time 19.735437 ms 
mapping data assosiation time 13.454303 ms 
mapping solver time 14.144026 ms 
--------------------stamp1317358116.150196075
mapping solver time 11.250374 ms 
mapping pub time 1.689022 ms 
whole mapping time 87.524967 ms +++++
mappingCount 2195 & avg mapping time 157.230038 ms ++++++++++++++++++++++
publication time 8.527948 ms 
whole laserOdometry time 8.539212 ms 
 
-----t: 0.0261898
OdomCount 3409 & avg odom time 0.046249 ms ++++++++++++++++++++++
1317358116.150196075 WriteOdom laser_odom_to_init
build tree time 22.262521 ms 
mapping data assosiation time 15.358131 ms 
mapping solver time 12.212464 ms 
--------------------stamp1317358116.254188060
points size 71561 
sort q time 3.743669 
seperate points time 8.757380 
mapping pub time 4.158625 ms 
whole mapping time 92.321911 ms +++++
mappingCount 2196 & avg mapping time 157.200483 ms ++++++++++++++++++++++
build tree time 20.297598 ms 
mapping data assosiation time 13.706496 ms 
mapping solver time 12.898666 ms 
mapping data assosiation time 12.034041 ms 
points size 71684 
sort q time 3.870016 
seperate points time 9.320640 
publication time 5.386068 ms 
whole laserOdometry time 5.400584 ms 
 
-----t: 0.0308283
OdomCount 3411 & avg odom time 0.046237 ms ++++++++++++++++++++++
build tree time 21.787379 ms 
mapping data assosiation time 14.280464 ms 
mapping solver time 12.343125 ms 
points size 72337 
scan registration time 18.310863 ms *************
filter time 8.031506 ms 
-----t: 0.0331658
OdomCount 3412 & avg odom time 0.046233 ms ++++++++++++++++++++++
build tree time 19.572265 ms 
mapping data assosiation time 12.483883 ms 
mapping solver time 13.400925 ms 
mapping data assosiation time 15.093847 ms 
filter time 6.877713 ms 
mapping pub time 1.624891 ms 
whole mapping time 82.936937 ms +++++
mappingCount 2199 & avg mapping time 157.104705 ms ++++++++++++++++++++++
1317358116.462193966 WriteOdom aft_mapped_to_init
1317358116.566184043 WriteOdom laser_odom_to_init
1317358116.566184043 WriteOdom aft_mapped_to_init_high_frec
build tree time 18.817903 ms 
mapping data assosiation time 14.880250 ms 
mapping solver time 14.595800 ms 
points size 75326 
sort q time 4.649920 
seperate points time 9.223671 
publication time 5.812656 ms 
whole laserOdometry time 5.824552 ms 
 
map prepare time 1.994569 ms
map corner num 97042  surf num 33058 
build tree time 18.976507 ms 
mapping data assosiation time 12.874234 ms 
mapping solver time 13.147290 ms 
mapping data assosiation time 12.883133 ms 
points size 78464 
sort q time 4.714736 
seperate points time 8.866755 
publication time 6.047174 ms 
whole laserOdometry time 6.061306 ms 
 
-----t: 0.0287046
OdomCount 3415 & avg odom time 0.046218 ms ++++++++++++++++++++++
--------------------stamp1317358116.878084897
points size 82350 
mapping pub time 100.996954 ms 
whole mapping time 185.102474 ms +++++
mappingCount 2201 & avg mapping time 157.087732 ms ++++++++++++++++++++++
1317358116.670150042 WriteOdom aft_mapped_to_init
map prepare time 2.313890 ms
map corner num 97261  surf num 33127 
sort q time 5.520880 
seperate points time 11.573762 
scan registration time 25.107518 ms *************
publication time 7.232422 ms 
whole laserOdometry time 7.242880 ms 
 
-----t: 0.0281144
OdomCount 3416 & avg odom time 0.046212 ms ++++++++++++++++++++++
1317358116.878084897 WriteOdom laser_odom_to_init
1317358116.878084897 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.600281 ms 
mapping data assosiation time 13.988886 ms 
mapping solver time 15.047393 ms 
mapping data assosiation time 13.753909 ms 
mapping solver time 12.337039 ms 
prepare time 9.406723 
sort q time 5.246835 
seperate points time 11.016770 
scan registration time 23.133660 ms *************
publication time 6.127156 ms 
whole laserOdometry time 6.138165 ms 
 
mapping data assosiation time 18.010779 ms 
-----t: 0.0506428
OdomCount 3417 & avg odom time 0.046214 ms ++++++++++++++++++++++
mapping data assosiation time 11.827151 ms 
mapping optimization time 81.870183 
map prepare time 2.505686 ms
map corner num 97701  surf num 33267 
sort q time 5.568672 
seperate points time 11.626234 
-----t: 0.0259771
OdomCount 3418 & avg odom time 0.046208 ms ++++++++++++++++++++++
mapping data assosiation time 16.024990 ms 
mapping solver time 13.719215 ms 
mapping data assosiation time 11.856302 ms 
mapping solver time 9.816681 ms 
filter time 5.985507 ms 
--------------------stamp1317358117.189982891
points size 91748 
sort q time 5.444434 
seperate points time 12.321632 
publication time 5.051171 ms 
whole laserOdometry time 5.062663 ms 
 
-----t: 0.0281585
OdomCount 3419 & avg odom time 0.046202 ms ++++++++++++++++++++++
mapping data assosiation time 13.449094 ms 
mapping solver time 11.881712 ms 
mapping pub time 2.030681 ms 
whole mapping time 96.923992 ms +++++
mappingCount 2205 & avg mapping time 156.971302 ms ++++++++++++++++++++++
--------------------stamp1317358117.293948888
build tree time 22.054084 ms 
sort q time 5.765426 
seperate points time 11.731650 
-----t: 0.0221554
OdomCount 3420 & avg odom time 0.046195 ms ++++++++++++++++++++++
mapping data assosiation time 13.111033 ms 
mapping solver time 14.161425 ms 
map prepare time 1.880346 ms
map corner num 98378  surf num 33485 
--------------------stamp1317358117.397917032
sort q time 4.912770 
seperate points time 10.561952 
publication time 7.409293 ms 
whole laserOdometry time 7.422376 ms 
 
mapping solver time 9.577523 ms 
mapping pub time 2.327430 ms 
whole mapping time 94.575818 ms +++++
mappingCount 2207 & avg mapping time 156.915531 ms ++++++++++++++++++++++
build tree time 21.209473 ms 
mapping data assosiation time 15.269269 ms 
mapping solver time 17.089745 ms 
mapping data assosiation time 17.099932 ms 
mapping solver time 16.671636 ms 
mapping optimization time 88.283737 
add points time 0.609479 ms
build tree time 20.972956 ms 
mapping data assosiation time 14.622659 ms 
mapping solver time 15.684469 ms 
mapping data assosiation time 17.803698 ms 
filter time 6.363787 ms 
build tree time 22.054589 ms 
mapping data assosiation time 12.378513 ms 
points size 92963 
sort q time 5.565837 
seperate points time 12.443848 
mapping solver time 13.979830 ms 
mapping pub time 2.234890 ms 
whole mapping time 93.545534 ms +++++
mappingCount 2210 & avg mapping time 156.830602 ms ++++++++++++++++++++++
1317358117.605777979 WriteOdom aft_mapped_to_init
map prepare time 2.000682 ms
map corner num 99445  surf num 33813 
build tree time 22.087514 ms 
--------------------stamp1317358117.813620090
sort q time 5.449862 
seperate points time 10.194078 
publication time 5.796122 ms 
whole laserOdometry time 5.835670 ms 
 
filter time 6.159222 ms 
[0m[ INFO] [1718890200.763302937, 1317358117.861609916]: Received 133645 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890200.763342225, 1317358117.861609916]: Data saved to 1317358117709697.pcd[0m
mapping pub time 3.637335 ms 
whole mapping time 100.993202 ms +++++
mappingCount 2211 & avg mapping time 156.805351 ms ++++++++++++++++++++++
1317358117.709697008 WriteOdom aft_mapped_to_init
map prepare time 1.921538 ms
map corner num 99757  surf num 33888 
build tree time 20.334672 ms 
mapping data assosiation time 13.441593 ms 
--------------------stamp1317358117.917515993
prepare time 10.268563 
scan registration time 25.034990 ms *************
add points time 0.815048 ms
-----t: 0.0278241
OdomCount 3426 & avg odom time 0.046169 ms ++++++++++++++++++++++
map prepare time 1.886105 ms
map corner num 100044  surf num 33956 
build tree time 20.986482 ms 
mapping data assosiation time 11.710570 ms 
mapping solver time 13.319620 ms 
mapping data assosiation time 13.858332 ms 
mapping solver time 12.589581 ms 
mapping pub time 2.363558 ms 
whole mapping time 88.243315 ms +++++
mappingCount 2213 & avg mapping time 156.746695 ms ++++++++++++++++++++++
map prepare time 1.844823 ms
map corner num 100287  surf num 34034 
build tree time 20.073126 ms 
mapping data assosiation time 15.117844 ms 
mapping solver time 14.545184 ms 
mapping data assosiation time 15.406135 ms 
points size 82453 
prepare time 9.734115 
publication time 6.708959 ms 
whole laserOdometry time 6.974772 ms 
map prepare time 1.987758 ms
map corner num 100574  surf num 34131 
build tree time 22.946109 ms 
mapping data assosiation time 12.471983 ms 
mapping solver time 16.523947 ms 
mapping data assosiation time 15.006496 ms 
mapping solver time 18.225390 ms 
mapping pub time 1.970822 ms 
whole mapping time 100.607220 ms +++++
mappingCount 2215 & avg mapping time 156.694612 ms ++++++++++++++++++++++
1317358118.125276089 WriteOdom aft_mapped_to_init
map prepare time 1.938887 ms
map corner num 100858  surf num 34240 
build tree time 22.745218 ms 
mapping data assosiation time 13.071744 ms 
mapping solver time 14.954431 ms 
points size 76389 
sort q time 4.186411 
seperate points time 9.603298 
-----t: 0.0229042
OdomCount 3430 & avg odom time 0.046146 ms ++++++++++++++++++++++
build tree time 23.999192 ms 
mapping data assosiation time 13.393978 ms 
mapping solver time 19.415502 ms 
prepare time 7.763799 
publication time 5.459370 ms 
whole laserOdometry time 5.472710 ms 
 
filter time 9.522734 ms 
build tree time 14.178696 ms mapping solver time 15.398543 ms 
points size 68253 
mapping solver time 13.470598 ms 
publication time 5.448760 ms 
whole laserOdometry time 5.463430 ms 
 
-----t: 0.0441215
OdomCount 3432 & avg odom time 0.046141 ms ++++++++++++++++++++++
build tree time 13.420739 ms 
mapping data assosiation time 11.668066 ms 
mapping solver time 13.894546 ms 
prepare time 7.335159 
mapping solver time 18.994199 ms 
map prepare time 1.566251 ms
map corner num 60534  surf num 19492 
build tree time 12.147683 ms 
mapping data assosiation time 12.841381 ms 
mapping solver time 14.491606 ms 
--------------------stamp1317358118.749123096
sort q time 3.872956 
seperate points time 7.983991 
publication time 5.673244 ms 
whole laserOdometry time 5.687509 ms 
 
map prepare time 2.117967 ms
map corner num 60817  surf num 19575 
build tree time 15.804171 ms 
mapping data assosiation time 16.961047 ms 
mapping solver time 15.107669 ms 
--------------------stamp1317358118.853163003
sort q time 3.641080 
seperate points time 7.950940 
filter time 6.712716 ms 
publication time 4.466261 ms 
whole laserOdometry time 4.489792 ms 
 
[0m[ INFO] [1718890201.784699207, 1317358118.882750069]: Received 80838 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890201.784750376, 1317358118.882750069]: Data saved to 1317358118749123.pcd[0m
-----t: 0.024165
OdomCount 3435 & avg odom time 0.046125 ms ++++++++++++++++++++++
1317358118.853163003 WriteOdom laser_odom_to_init
1317358118.853163003 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358118.957226991
sort q time 3.595288 
seperate points time 7.649348 
scan registration time 15.967164 ms *************
publication time 6.238221 ms 
whole laserOdometry time 6.253209 ms 
 
mapping data assosiation time 16.032493 ms 
mapping solver time 16.037298 ms 
mapping data assosiation time 17.085984 ms 
--------------------stamp1317358119.061266899
map prepare time 1.890360 ms
map corner num 61439  surf num 19825 
build tree time 16.112550 ms 
-----t: 0.0271394
OdomCount 3437 & avg odom time 0.046116 ms ++++++++++++++++++++++
mapping solver time 15.514710 ms 
mapping data assosiation time 15.951580 ms 
mapping solver time 16.233550 ms 
map prepare time 1.936029 ms
map corner num 61754  surf num 19921 
sort q time 3.386718 
seperate points time 7.030875 
publication time 5.826429 ms 
whole laserOdometry time 5.842260 ms 
 
mapping solver time 14.837499 ms 
mapping data assosiation time 14.150716 ms 
mapping solver time 10.944291 ms 
mapping optimization time 74.536005 
add points time 0.628647 ms
filter time 5.777918 ms 
build tree time 12.027301 ms 
sort q time 3.577347 
seperate points time 7.397079 
mapping data assosiation time 16.803583 ms 
scan registration time 15.919409 ms *************
-----t: 0.0273986
OdomCount 3439 & avg odom time 0.046105 ms ++++++++++++++++++++++
mapping data assosiation time 15.307520 ms 
mapping solver time 16.887643 ms 
map prepare time 1.479305 ms
map corner num 62343  surf num 20091 
build tree time 13.133641 ms 
--------------------stamp1317358119.373383998
sort q time 3.738776 
seperate points time 7.416553 
scan registration time 14.758931 ms *************
mapping data assosiation time 15.935118 ms 
mapping solver time 11.331960 ms 
map prepare time 2.080926 ms
map corner num 61104  surf num 19478 
mapping data assosiation time 17.419409 ms 
points size 62499 
mapping data assosiation time 17.522188 ms 
mapping solver time 14.279738 ms 
-----t: 0.0455582
OdomCount 3441 & avg odom time 0.046097 ms ++++++++++++++++++++++
build tree time 13.634074 ms 
mapping data assosiation time 16.823999 ms 
points size 63533 
scan registration time 19.260716 ms *************
mapping data assosiation time 20.794609 ms 
mapping solver time 14.643345 ms 
build tree time 10.954895 ms 
mapping data assosiation time 16.230975 ms 
--------------------stamp1317358119.685570955
sort q time 3.833635 
seperate points time 7.932402 
publication time 4.747377 ms 
whole laserOdometry time 4.762794 ms 
 
mapping solver time 19.025661 ms 
map prepare time 1.415671 ms
map corner num 61914  surf num 19713 
build tree time 11.315386 ms 
mapping data assosiation time 13.539754 ms 
mapping solver time 16.112428 ms 
--------------------stamp1317358119.789633035
sort q time 4.121276 
seperate points time 8.165347 
filter time 5.840854 ms 
build tree time 11.970518 ms 
mapping data assosiation time 13.841874 ms 
mapping solver time 16.646553 ms 
mapping data assosiation time 14.358912 ms 
--------------------stamp1317358119.893699884
[0m[ INFO] [1718890202.802705874, 1317358119.902007364]: Received 82203 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890202.802758134, 1317358119.902007364]: Data saved to 1317358119789633.pcd[0m
publication time 5.115357 ms 
whole laserOdometry time 5.126842 ms 
 
build tree time 11.745638 ms 
mapping data assosiation time 14.055349 ms 
mapping solver time 15.362845 ms 
mapping data assosiation time 14.895650 ms 
mapping solver time 12.955521 ms 
sort q time 3.869534 
seperate points time 8.341316 
publication time 5.015557 ms 
whole laserOdometry time 5.028308 ms 
 
build tree time 15.664205 ms 
mapping data assosiation time 17.599154 ms 
mapping solver time 16.578300 ms 
points size 65430 
mapping solver time 15.471706 ms 
-----t: 0.0243251
OdomCount 3447 & avg odom time 0.046063 ms ++++++++++++++++++++++
build tree time 11.655709 ms 
mapping data assosiation time 13.313540 ms 
mapping solver time 11.000590 ms 
mapping data assosiation time 15.918050 ms 
mapping solver time 13.536652 ms 
sort q time 3.233845 
seperate points time 7.711681 
-----t: 0.0196213
OdomCount 3448 & avg odom time 0.046056 ms ++++++++++++++++++++++
1317358120.205862998 WriteOdom laser_odom_to_init
1317358120.205862998 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.000332 ms
map corner num 63022  surf num 20043 
build tree time 11.542886 ms 
mapping data assosiation time 13.432351 ms 
mapping solver time 14.349174 ms 
mapping data assosiation time 13.150342 ms 
mapping solver time 10.756052 ms 
points size 64700 
publication time 3.755051 ms 
whole laserOdometry time 3.769499 ms 
 
build tree time 11.099472 ms 
mapping data assosiation time 13.495174 ms 
mapping solver time 14.484072 ms 
mapping data assosiation time 14.316390 ms 
mapping solver time 11.648680 ms 
mapping pub time 2.597422 ms 
whole mapping time 76.818929 ms +++++
mappingCount 2236 & avg mapping time 156.092637 ms ++++++++++++++++++++++
sort q time 3.818380 
seperate points time 8.400727 
publication time 4.748783 ms 
whole laserOdometry time 4.762371 ms 
 
1317358120.413943052 WriteOdom laser_odom_to_init
build tree time 16.770826 ms 
mapping data assosiation time 16.074705 ms 
mapping solver time 21.838299 ms 
points size 62729 
mapping optimization time 86.651574 
add points time 0.575529 ms
-----t: 0.0277312
OdomCount 3451 & avg odom time 0.046037 ms ++++++++++++++++++++++
build tree time 16.979745 ms 
mapping data assosiation time 16.467311 ms 
mapping solver time 17.747167 ms 
points size 62778 
mapping solver time 13.715528 ms 
-----t: 0.0304393
OdomCount 3452 & avg odom time 0.046032 ms ++++++++++++++++++++++
1317358120.621990919 WriteOdom laser_odom_to_init
1317358120.621990919 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.923907 ms
map corner num 63927  surf num 20316 
build tree time 16.772265 ms 
mapping data assosiation time 15.962950 ms 
mapping solver time 15.052507 ms 
--------------------stamp1317358120.725982904
mapping solver time 10.528947 ms 
publication time 4.534191 ms 
whole laserOdometry time 4.560027 ms 
 
build tree time 12.432917 ms 
mapping data assosiation time 13.133870 ms 
mapping solver time 13.838394 ms 
mapping data assosiation time 14.192457 ms 
--------------------stamp1317358120.829998016
sort q time 3.819197 
seperate points time 7.265007 
publication time 4.492452 ms 
whole laserOdometry time 4.505895 ms 
 
build tree time 12.855781 ms 
mapping data assosiation time 14.135205 ms 
mapping solver time 14.969406 ms 
mapping data assosiation time 14.228780 ms 
--------------------stamp1317358121.037977933
mapping pub time 108.220798 ms 
whole mapping time 189.669716 ms +++++
mappingCount 2241 & avg mapping time 155.985243 ms ++++++++++++++++++++++
1317358120.829998016 WriteOdom aft_mapped_to_init
sort q time 4.765951 
seperate points time 9.849790 
map prepare time 2.101411 ms
map corner num 64597  surf num 20481 
scan registration time 20.067671 ms *************
build tree time 14.731867 ms 
publication time 5.637556 ms 
whole laserOdometry time 5.649888 ms 
 
mapping solver time 15.668846 ms 
mapping data assosiation time 12.971452 ms 
mapping solver time 10.485393 ms 
map prepare time 1.610530 ms
map corner num 64835  surf num 20534 
points size 67610 
sort q time 3.576142 
seperate points time 8.088014 
mapping data assosiation time 16.151684 ms 
mapping solver time 17.720292 ms 
mapping data assosiation time 13.404561 ms 
mapping solver time 11.078234 ms 
map prepare time 1.499778 ms
map corner num 65114  surf num 20613 
build tree time 11.836240 ms 
points size 70607 
sort q time 3.357066 
seperate points time 7.713491 
scan registration time 17.104410 ms *************
publication time 5.089859 ms 
whole laserOdometry time 5.105714 ms 
 
mapping data assosiation time 16.117695 ms 
mapping solver time 10.596468 ms 
mapping pub time 1.561622 ms 
whole mapping time 80.312290 ms +++++
mappingCount 2244 & avg mapping time 155.886025 ms ++++++++++++++++++++++
1317358121.141969919 WriteOdom aft_mapped_to_init
map prepare time 1.585916 ms
map corner num 65362  surf num 20700 
build tree time 13.198960 ms 
mapping data assosiation time 13.377334 ms 
mapping solver time 13.805175 ms 
points size 73805 
sort q time 4.071288 
seperate points time 9.264121 
filter time 5.984416 ms 
build tree time 13.383841 ms 
mapping data assosiation time 13.801247 ms 
mapping solver time 15.012896 ms 
mapping data assosiation time 14.492463 ms 
points size 76825 
sort q time 4.257830 
seperate points time 10.264700 
scan registration time 19.232166 ms *************
map prepare time 1.647696 ms
map corner num 65940  surf num 20884 
build tree time 12.452074 ms 
mapping data assosiation time 14.252042 ms 
mapping solver time 15.253691 ms 
mapping data assosiation time 14.411800 ms 
points size 79667 
sort q time 4.603702 
seperate points time 9.829892 
publication time 7.730115 ms 
whole laserOdometry time 7.743930 ms 
 
map prepare time 2.552930 ms
map corner num 66257  surf num 21005 
build tree time 19.268695 ms 
mapping data assosiation time 18.009771 ms 
--------------------stamp1317358121.661900043
sort q time 4.305976 
seperate points time 8.930781 
mapping solver time 16.325547 ms 
map prepare time 1.966877 ms
map corner num 66602  surf num 21166 
build tree time 14.938050 ms 
mapping data assosiation time 14.955784 ms 
mapping solver time 15.810939 ms 
points size 83131 
sort q time 4.457672 
seperate points time 10.471559 
filter time 6.054048 ms 
publication time 5.156462 ms 
whole laserOdometry time 5.166239 ms 
 
map prepare time 1.815502 ms
map corner num 66958  surf num 21300 
build tree time 13.812092 ms 
mapping data assosiation time 14.948536 ms 
mapping solver time 16.050997 ms 
--------------------stamp1317358121.869905948
mapping solver time 13.484458 ms 
publication time 5.572376 ms 
whole laserOdometry time 5.584610 ms 
 
-----t: 0.0252599
OdomCount 3464 & avg odom time 0.045961 ms ++++++++++++++++++++++
1317358121.869905948 WriteOdom laser_odom_to_init
1317358121.869905948 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.756094 ms
map corner num 67289  surf num 21446 
build tree time 12.827312 ms 
mapping data assosiation time 15.592559 ms 
mapping solver time 16.452619 ms 
mapping data assosiation time 15.434588 ms 
points size 84619 
sort q time 5.812114 
seperate points time 10.746822 
publication time 6.753750 ms 
whole laserOdometry time 6.767740 ms 
 
map prepare time 1.845644 ms
map corner num 67645  surf num 21595 
build tree time 13.900598 ms 
mapping data assosiation time 17.357694 ms 
mapping solver time 17.012707 ms 
--------------------stamp1317358122.077908039
points size 85561 
sort q time 4.708036 
seperate points time 10.878441 
publication time 6.858136 ms 
whole laserOdometry time 6.869082 ms 
 
-----t: 0.0387471
OdomCount 3466 & avg odom time 0.045954 ms ++++++++++++++++++++++
build tree time 15.456152 ms 
mapping data assosiation time 17.350307 ms 
--------------------stamp1317358122.181900978
sort q time 4.860582 
seperate points time 11.360068 
publication time 9.288852 ms 
whole laserOdometry time 9.302651 ms 
 
mapping pub time 2.113951 ms 
whole mapping time 105.519201 ms +++++
mappingCount 2253 & avg mapping time 155.621304 ms ++++++++++++++++++++++
build tree time 13.566467 ms 
mapping data assosiation time 18.951596 ms 
--------------------stamp1317358122.285940885
mapping solver time 23.287702 ms 
publication time 8.526979 ms 
whole laserOdometry time 8.541895 ms 
 
mapping solver time 15.429040 ms 
map prepare time 2.273355 ms
map corner num 68897  surf num 22207 
build tree time 15.159856 ms 
mapping data assosiation time 19.615474 ms 
points size 86242 
sort q time 4.908998 
seperate points time 11.149132 
publication time 6.859954 ms 
whole laserOdometry time 6.875150 ms 
 
mapping solver time 15.552711 ms 
mapping pub time 1.963458 ms 
whole mapping time 107.636021 ms +++++
mappingCount 2255 & avg mapping time 155.578295 ms ++++++++++++++++++++++
build tree time 13.205349 ms 
--------------------stamp1317358122.494062900
sort q time 5.022427 
seperate points time 10.996137 
publication time 6.820250 ms 
whole laserOdometry time 6.842039 ms 
 
-----t: 0.0275922
OdomCount 3470 & avg odom time 0.045935 ms ++++++++++++++++++++++
1317358122.494062900 WriteOdom laser_odom_to_init
1317358122.494062900 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 15.614951 ms 
[0m[ INFO] [1718890205.461665812, 1317358122.563893780]: Received 92458 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890205.461704767, 1317358122.563893780]: Data saved to 1317358122390003.pcd[0m
mapping pub time 3.126244 ms 
whole mapping time 104.301507 ms +++++
mappingCount 2256 & avg mapping time 155.555569 ms ++++++++++++++++++++++
map prepare time 2.024999 ms
map corner num 69812  surf num 22646 
1317358122.390003920 WriteOdom aft_mapped_to_init
build tree time 13.507360 ms 
--------------------stamp1317358122.598150968
sort q time 4.612190 
seperate points time 9.304827 
mapping solver time 30.081485 ms 
1317358122.598150968 WriteOdom laser_odom_to_init
mapping solver time 17.973134 ms 
map prepare time 1.980370 ms
map corner num 70213  surf num 22797 
build tree time 14.370177 ms 
sort q time 4.882152 
seperate points time 9.612592 
scan registration time 21.056881 ms *************
mapping data assosiation time 25.057736 ms 
mapping solver time 33.003149 ms 
-----t: 0.0533885
OdomCount 3472 & avg odom time 0.045935 ms ++++++++++++++++++++++
mapping solver time 19.109369 ms 
points size 89721 
sort q time 5.916303 
seperate points time 12.284132 
publication time 10.687160 ms 
whole laserOdometry time 10.705746 ms 
 
mapping solver time 24.550648 ms 
mapping data assosiation time 19.464171 ms 
points size 90635 
mapping solver time 23.428867 ms 
map prepare time 2.803208 ms
map corner num 70997  surf num 23169 
publication time 11.305347 ms 
whole laserOdometry time 11.323415 ms 
 
-----t: 0.0468825
OdomCount 3474 & avg odom time 0.045934 ms ++++++++++++++++++++++
mapping data assosiation time 22.142098 ms 
mapping solver time 20.228589 ms 
points size 91356 
prepare time 8.798650 
mapping solver time 23.198626 ms 
mapping pub time 2.283724 ms 
whole mapping time 126.794257 ms +++++
mappingCount 2260 & avg mapping time 155.500264 ms ++++++++++++++++++++++
mapping data assosiation time 19.917265 ms 
points size 91962 
sort q time 5.181492 
seperate points time 11.382578 
-----t: 0.034468
OdomCount 3476 & avg odom time 0.045929 ms ++++++++++++++++++++++
mapping solver time 16.249047 ms 
--------------------stamp1317358123.222552061
sort q time 4.784380 
seperate points time 10.021972 
publication time 9.521095 ms 
whole laserOdometry time 9.532804 ms 
 
-----t: 0.0455778
OdomCount 3477 & avg odom time 0.045929 ms ++++++++++++++++++++++
1317358123.222552061 WriteOdom laser_odom_to_init
1317358123.222552061 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 108.087438 ms 
whole mapping time 227.221600 ms +++++
mappingCount 2261 & avg mapping time 155.531987 ms ++++++++++++++++++++++
build tree time 14.283283 ms 
points size 93637 
prepare time 10.750166 
mapping solver time 29.115705 ms 
-----t: 0.0446383
OdomCount 3478 & avg odom time 0.045929 ms ++++++++++++++++++++++
mapping data assosiation time 24.202245 ms 
mapping solver time 16.123991 ms 
mapping pub time 2.162252 ms 
whole mapping time 121.409418 ms +++++
mappingCount 2262 & avg mapping time 155.516903 ms ++++++++++++++++++++++
--------------------stamp1317358123.430653095
prepare time 13.701198 
scan registration time 32.186202 ms *************
publication time 9.270431 ms 
whole laserOdometry time 9.283998 ms 
 
mapping solver time 32.019104 ms 
mapping data assosiation time 20.226466 ms 
points size 95525 
add points time 0.769944 ms
map prepare time 3.367264 ms
map corner num 72600  surf num 23936 
-----t: 0.0333388
OdomCount 3480 & avg odom time 0.045925 ms ++++++++++++++++++++++
mapping data assosiation time 20.695748 ms 
mapping solver time 22.180284 ms 
points size 95930 
mapping data assosiation time 26.056789 ms 
mapping solver time 17.080547 ms 
mapping pub time 2.260272 ms 
whole mapping time 119.230349 ms +++++
mappingCount 2264 & avg mapping time 155.492327 ms ++++++++++++++++++++++
build tree time 15.237747 ms 
mapping data assosiation time 19.862489 ms 
--------------------stamp1317358123.742747068
sort q time 6.037889 
seperate points time 11.361782 
mapping data assosiation time 24.009787 ms 
mapping solver time 18.415678 ms 
map prepare time 2.299411 ms
map corner num 73359  surf num 24294 
build tree time 15.652793 ms 
mapping data assosiation time 21.796522 ms 
sort q time 5.391993 
seperate points time 10.520124 
scan registration time 21.698584 ms *************
-----t: 0.0356824
OdomCount 3483 & avg odom time 0.045919 ms ++++++++++++++++++++++
mapping data assosiation time 23.304692 ms 
mapping solver time 16.153274 ms 
[0m[ INFO] [1718890206.826366071, 1317358123.921799035]: Received 98172 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890206.826394824, 1317358123.921799035]: Data saved to 1317358123742747.pcd[0m
build tree time 14.741093 ms 
prepare time 10.542154 
mapping data assosiation time 25.016260 ms 
sort q time 4.978436 
seperate points time 11.789340 
scan registration time 25.650523 ms *************
mapping solver time 29.634463 ms 
mapping data assosiation time 22.895672 ms 
mapping solver time 16.361529 ms 
1317358123.846735954 WriteOdom aft_mapped_to_init
points size 90196 
sort q time 5.152277 
seperate points time 12.104036 
publication time 8.488813 ms 
whole laserOdometry time 8.503192 ms 
-----t: 0.0467844
OdomCount 3485 & avg odom time 0.045918 ms ++++++++++++++++++++++
1317358124.054668903 WriteOdom laser_odom_to_init
1317358124.054668903 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.246211 ms 
mapping data assosiation time 22.960307 ms 
points size 86742 
sort q time 5.554787 
seperate points time 12.252198 
publication time 16.679165 ms 
whole laserOdometry time 16.692775 ms 
 
mapping data assosiation time 21.504590 ms 
mapping solver time 25.032045 ms 
points size 84305 
sort q time 4.171328 
seperate points time 9.774342 
publication time 8.181020 ms 
whole laserOdometry time 8.194430 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 15.172086 ms 
mapping data assosiation time 19.867863 ms 
--------------------stamp1317358124.366571903
mapping solver time 26.762938 ms 
publication time 6.820315 ms 
whole laserOdometry time 6.837380 ms 
 
-----t: 0.0308882
OdomCount 3488 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping solver time 16.736782 ms 
mapping pub time 1.947933 ms 
whole mapping time 114.593631 ms +++++
mappingCount 2270 & avg mapping time 155.403072 ms ++++++++++++++++++++++
build tree time 19.547088 ms 
--------------------stamp1317358124.470513105
points size 81059 
sort q time 4.551597 
seperate points time 10.395561 
publication time 7.625773 ms 
whole laserOdometry time 7.640744 ms 
 
-----t: 0.0320911
OdomCount 3489 & avg odom time 0.045907 ms ++++++++++++++++++++++
mapping solver time 15.243467 ms 
[0m[ INFO] [1718890207.443071248, 1317358124.544523033]: Received 100512 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890207.443136449, 1317358124.544523033]: Data saved to 1317358124366571.pcd[0m
build tree time 17.031718 ms 
points size 80130 
scan registration time 18.696772 ms *************
publication time 6.936735 ms 
whole laserOdometry time 6.946519 ms 
 
mapping solver time 25.343920 ms 
mapping data assosiation time 21.459802 ms 
mapping solver time 14.742484 ms 
mapping optimization time 102.467162 
add points time 0.671265 ms
filter time 4.952473 ms 
--------------------stamp1317358124.678282022
sort q time 4.923985 
seperate points time 9.639461 
publication time 9.758513 ms 
whole laserOdometry time 9.771448 ms 
 
mapping solver time 32.666788 ms 
mapping data assosiation time 19.698211 ms 
mapping solver time 14.427661 ms 
mapping pub time 1.870462 ms 
whole mapping time 117.959127 ms +++++
mappingCount 2273 & avg mapping time 155.349067 ms ++++++++++++++++++++++
sort q time 4.664399 
seperate points time 9.330659 
publication time 8.762928 ms 
whole laserOdometry time 8.841155 ms 
 
-----t: 0.0506427
OdomCount 3492 & avg odom time 0.045911 ms ++++++++++++++++++++++
mapping data assosiation time 18.837806 ms 
--------------------stamp1317358124.885946989
mapping solver time 15.519061 ms 
mapping pub time 1.828730 ms 
whole mapping time 110.989091 ms +++++
mappingCount 2274 & avg mapping time 155.329562 ms ++++++++++++++++++++++
sort q time 4.299370 
seperate points time 9.685458 
publication time 6.895280 ms 
whole laserOdometry time 6.911912 ms 
 
-----t: 0.0329755
OdomCount 3493 & avg odom time 0.045907 ms ++++++++++++++++++++++
mapping solver time 18.095710 ms 
mapping data assosiation time 18.763315 ms 
--------------------stamp1317358124.989744901
filter time 6.111002 ms 
mapping pub time 1.930087 ms 
whole mapping time 108.608017 ms +++++
mappingCount 2275 & avg mapping time 155.309029 ms ++++++++++++++++++++++
1317358124.782125950 WriteOdom aft_mapped_to_init
build tree time 18.816553 ms 
mapping data assosiation time 19.375145 ms 
mapping solver time 22.398699 ms 
mapping data assosiation time 18.794090 ms 
prepare time 7.913325 
mapping solver time 21.239210 ms 
-----t: 0.033042
OdomCount 3495 & avg odom time 0.045898 ms ++++++++++++++++++++++
1317358125.093544960 WriteOdom laser_odom_to_init
mapping data assosiation time 17.121665 ms 
mapping solver time 21.837941 ms 
--------------------stamp1317358125.197345972
sort q time 4.975757 
seperate points time 10.698547 
add points time 0.827274 ms
drop lidar frame in mapping for real time performance 
build tree time 16.768683 ms 
mapping data assosiation time 16.889894 ms 
--------------------stamp1317358125.301168918
sort q time 5.398170 
seperate points time 9.994129 
publication time 6.796965 ms 
whole laserOdometry time 6.811010 ms 
 
mapping solver time 21.779036 ms 
filter time 5.869510 ms 
build tree time 14.708064 ms 
mapping data assosiation time 16.783181 ms 
--------------------stamp1317358125.405064105
sort q time 4.200487 
seperate points time 8.640856 
publication time 5.485979 ms 
whole laserOdometry time 5.502099 ms 
 
-----t: 0.0336801
OdomCount 3498 & avg odom time 0.045887 ms ++++++++++++++++++++++
build tree time 18.398681 ms 
mapping data assosiation time 16.967758 ms 
--------------------stamp1317358125.509006023
mapping solver time 23.847604 ms 
publication time 5.726503 ms 
whole laserOdometry time 5.740599 ms 
 
mapping solver time 17.466267 ms 
map prepare time 1.743710 ms
map corner num 78457  surf num 26059 
build tree time 17.472865 ms 
mapping data assosiation time 13.663189 ms 
--------------------stamp1317358125.612996101
sort q time 3.701201 
seperate points time 8.717860 
-----t: 0.0254454
OdomCount 3500 & avg odom time 0.045875 ms ++++++++++++++++++++++
mapping solver time 19.537764 ms 
[0m[ INFO] [1718890208.565605767, 1317358125.667600963]: Received 104956 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890208.565662579, 1317358125.667600963]: Data saved to 1317358125509006.pcd[0m
--------------------stamp1317358125.717010974
points size 67855 
sort q time 4.601462 
seperate points time 10.652489 
-----t: 0.0353166
OdomCount 3501 & avg odom time 0.045872 ms ++++++++++++++++++++++
build tree time 16.370752 ms 
mapping data assosiation time 14.295443 ms 
mapping solver time 15.527646 ms 
sort q time 3.228663 
seperate points time 6.810948 
mapping solver time 13.570050 ms 
map prepare time 2.345478 ms
map corner num 79111  surf num 26273 
build tree time 17.373625 ms 
mapping data assosiation time 13.455107 ms 
mapping solver time 13.699363 ms 
--------------------stamp1317358125.925158977
sort q time 4.077684 
seperate points time 7.694551 
-----t: 0.0279093
OdomCount 3503 & avg odom time 0.045863 ms ++++++++++++++++++++++
build tree time 17.688112 ms 
mapping data assosiation time 13.998826 ms 
mapping solver time 13.127755 ms 
--------------------stamp1317358126.029269933
mapping solver time 10.745489 ms 
publication time 4.684956 ms 
whole laserOdometry time 4.700803 ms 
 
-----t: 0.0227464
OdomCount 3504 & avg odom time 0.045856 ms ++++++++++++++++++++++
1317358126.029269933 WriteOdom laser_odom_to_init
1317358126.029269933 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.540334 ms
map corner num 79794  surf num 26474 
build tree time 15.551181 ms 
mapping data assosiation time 12.442070 ms 
mapping solver time 15.621445 ms 
mapping data assosiation time 13.203214 ms 
points size 61240 
mapping pub time 1.359352 ms 
whole mapping time 84.617637 ms +++++
mappingCount 2285 & avg mapping time 155.111812 ms ++++++++++++++++++++++
-----t: 0.0216439
OdomCount 3505 & avg odom time 0.045849 ms ++++++++++++++++++++++
build tree time 15.395829 ms 
mapping data assosiation time 13.432538 ms 
mapping solver time 12.759797 ms 
mapping data assosiation time 12.420464 ms 
--------------------stamp1317358126.237562894
[0m[ INFO] [1718890209.146428160, 1317358126.246699763]: Received 107002 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 2.843101 ms 
[0m[ INFO] [1718890209.146478882, 1317358126.246699763]: Data saved to 1317358126133405.pcd[0m
whole mapping time 78.587606 ms +++++
mappingCount 2286 & avg mapping time 155.078338 ms ++++++++++++++++++++++
-----t: 0.0201215
OdomCount 3506 & avg odom time 0.045842 ms ++++++++++++++++++++++
build tree time 17.897254 ms 
mapping data assosiation time 14.254180 ms 
mapping solver time 16.379786 ms 
mapping data assosiation time 12.084374 ms 
points size 59496 
mapping solver time 11.097449 ms 
1317358126.237562895 WriteOdom aft_mapped_to_init
publication time 5.492684 ms 
whole laserOdometry time 5.502463 ms 
 
-----t: 0.0188161
OdomCount 3507 & avg odom time 0.045834 ms ++++++++++++++++++++++
1317358126.341744899 WriteOdom laser_odom_to_init
1317358126.341744899 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.468381 ms
map corner num 80598  surf num 26749 
build tree time 16.932642 ms 
mapping data assosiation time 11.427193 ms 
mapping solver time 15.944665 ms 
mapping data assosiation time 14.669182 ms 
points size 57076 
prepare time 8.163111 
mapping solver time 18.195305 ms 
mapping optimization time 78.108419 
add points time 0.668728 ms
sort q time 3.140036 
seperate points time 7.736201 
filter time 8.116598 ms 
publication time 4.697561 ms 
whole laserOdometry time 4.708153 ms 
 
build tree time 14.733489 ms 
mapping data assosiation time 12.439599 ms 
mapping solver time 15.080404 ms 
--------------------stamp1317358126.550045967
mapping solver time 13.740843 ms 
sort q time 2.818848 
seperate points time 6.826649 
mapping optimization time 71.748304 
scan registration time 15.443763 ms *************
add points time 0.755023 ms
publication time 5.988632 ms 
whole laserOdometry time 6.004234 ms 
 
build tree time 16.083204 ms 
mapping data assosiation time 11.814306 ms 
mapping solver time 15.225731 ms 
mapping data assosiation time 11.735674 ms 
mapping solver time 13.542359 ms 
publication time 4.156308 ms 
whole laserOdometry time 4.168990 ms 
 
map prepare time 1.489069 ms
map corner num 81422  surf num 26966 
build tree time 17.151499 ms 
mapping data assosiation time 11.833819 ms 
mapping solver time 12.618112 ms 
mapping data assosiation time 11.642266 ms 
mapping solver time 12.912853 ms 
sort q time 2.461182 
seperate points time 6.169508 
publication time 3.805105 ms 
whole laserOdometry time 3.825581 ms 
 
map prepare time 1.440763 ms
map corner num 81724  surf num 27034 
build tree time 15.021180 ms 
mapping data assosiation time 13.400291 ms 
mapping solver time 13.000005 ms 
mapping data assosiation time 12.869960 ms 
points size 47825 
filter time 6.259081 ms 
-----t: 0.0243482
OdomCount 3512 & avg odom time 0.045801 ms ++++++++++++++++++++++
build tree time 16.191314 ms 
mapping data assosiation time 13.029443 ms 
mapping solver time 13.652880 ms 
mapping data assosiation time 13.224330 ms 
mapping pub time 1.127603 ms 
whole mapping time 80.949732 ms +++++
mappingCount 2293 & avg mapping time 154.856647 ms ++++++++++++++++++++++
-----t: 0.0197577
OdomCount 3513 & avg odom time 0.045794 ms ++++++++++++++++++++++
build tree time 17.190095 ms 
mapping data assosiation time 13.643393 ms 
mapping solver time 17.871054 ms 
mapping data assosiation time 14.566083 ms 
sort q time 1.963745 
seperate points time 4.637365 
mapping pub time 1.206063 ms 
whole mapping time 90.739067 ms +++++
mappingCount 2294 & avg mapping time 154.828699 ms ++++++++++++++++++++++
1317358126.966341019 WriteOdom aft_mapped_to_init
map prepare time 1.557496 ms
map corner num 82774  surf num 27327 
build tree time 18.473107 ms 
mapping data assosiation time 14.373083 ms 
mapping solver time 14.069139 ms 
mapping data assosiation time 14.053468 ms 
mapping solver time 12.299700 ms 
publication time 4.013341 ms 
whole laserOdometry time 4.026586 ms 
 
map prepare time 1.594045 ms
map corner num 83107  surf num 27419 
build tree time 18.936053 ms 
mapping data assosiation time 11.131994 ms 
mapping solver time 11.928368 ms 
mapping data assosiation time 11.748387 ms 
mapping solver time 11.330898 ms 
mapping pub time 2.831881 ms 
whole mapping time 79.117319 ms +++++
mappingCount 2296 & avg mapping time 154.764846 ms ++++++++++++++++++++++
publication time 3.892163 ms 
whole laserOdometry time 3.904262 ms 
 
-----t: 0.0185941
OdomCount 3516 & avg odom time 0.045771 ms ++++++++++++++++++++++
build tree time 16.084252 ms 
mapping data assosiation time 12.588475 ms 
mapping solver time 13.601294 ms 
mapping data assosiation time 11.431055 ms 
mapping solver time 9.917267 ms 
points size 42902 
publication time 3.473217 ms 
whole laserOdometry time 3.483013 ms 
 
build tree time 15.344340 ms 
mapping data assosiation time 12.352521 ms 
mapping solver time 15.661679 ms 
mapping data assosiation time 12.391279 ms 
mapping solver time 13.296831 ms 
prepare time 6.172483 
filter time 8.233015 ms 
mapping pub time 1.002705 ms 
whole mapping time 81.644531 ms +++++
mappingCount 2298 & avg mapping time 154.698385 ms ++++++++++++++++++++++
1317358127.382134914 WriteOdom aft_mapped_to_init
publication time 3.802441 ms 
whole laserOdometry time 3.813383 ms 
 
-----t: 0.0159749
OdomCount 3518 & avg odom time 0.045754 ms ++++++++++++++++++++++
1317358127.486006021 WriteOdom laser_odom_to_init
1317358127.486006021 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.468914 ms
map corner num 83994  surf num 27688 
build tree time 17.398941 ms 
mapping data assosiation time 13.304673 ms 
mapping data assosiation time 11.878306 ms 
mapping solver time 9.619907 ms 
points size 44352 
publication time 3.672152 ms 
whole laserOdometry time 3.682059 ms 
 
-----t: 0.0154759
OdomCount 3519 & avg odom time 0.045746 ms ++++++++++++++++++++++
build tree time 18.465576 ms 
mapping data assosiation time 11.832882 ms 
mapping solver time 15.516845 ms 
mapping data assosiation time 11.781506 ms 
--------------------stamp1317358127.693696975
filter time 8.258276 ms 
-----t: 0.0142576
OdomCount 3520 & avg odom time 0.045737 ms ++++++++++++++++++++++
build tree time 16.988590 ms 
mapping data assosiation time 12.316688 ms 
mapping solver time 15.686798 ms 
mapping data assosiation time 11.786745 ms 
mapping solver time 9.315396 ms 
points size 52733 
sort q time 3.051910 
seperate points time 10.642965 
publication time 6.473453 ms 
whole laserOdometry time 6.488235 ms 
 
-----t: 0.0303646
OdomCount 3521 & avg odom time 0.045732 ms ++++++++++++++++++++++
--------------------stamp1317358127.901439905
sort q time 3.394373 
seperate points time 6.665072 
map prepare time 1.584357 ms
map corner num 84827  surf num 27914 
scan registration time 14.505159 ms *************
publication time 5.345926 ms 
whole laserOdometry time 5.361689 ms 
 
build tree time 22.301093 ms 
mapping data assosiation time 13.391129 ms 
mapping solver time 15.592950 ms 
mapping data assosiation time 11.761145 ms 
mapping solver time 9.377217 ms 
map prepare time 1.471477 ms
map corner num 85127  surf num 28017 
points size 58925 
mapping data assosiation time 16.230878 ms 
-----t: 0.03919
OdomCount 3523 & avg odom time 0.045726 ms ++++++++++++++++++++++
mapping data assosiation time 12.496863 ms 
mapping solver time 12.251353 ms 
map prepare time 1.742192 ms
map corner num 85403  surf num 28128 
--------------------stamp1317358128.109134912
sort q time 3.209443 
seperate points time 6.838608 
mapping solver time 20.188783 ms 
mapping data assosiation time 13.271677 ms 
mapping solver time 13.793960 ms 
filter time 5.777808 ms 
build tree time 18.340755 ms 
points size 63839 
publication time 5.448059 ms 
whole laserOdometry time 5.477895 ms 
 
mapping solver time 9.333137 ms 
mapping pub time 1.390111 ms 
whole mapping time 80.498896 ms +++++
mappingCount 2305 & avg mapping time 154.532557 ms ++++++++++++++++++++++
1317358128.109134912 WriteOdom aft_mapped_to_init
build tree time 17.212663 ms 
mapping data assosiation time 12.722575 ms 
mapping solver time 11.933464 ms 
points size 68128 
prepare time 6.973943 
mapping data assosiation time 13.159010 ms 
mapping solver time 15.694442 ms 
[0m[ INFO] [1718890211.253390406, 1317358128.351081761]: Received 114680 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890211.253429030, 1317358128.351081761]: Data saved to 1317358128213002.pcd[0m
build tree time 17.974288 ms 
mapping data assosiation time 12.146875 ms 
mapping solver time 13.167638 ms 
mapping data assosiation time 13.291804 ms 
mapping solver time 11.721078 ms 
mapping optimization time 69.086808 
points size 69012 
add points time 0.592337 ms
prepare time 8.536442 
scan registration time 20.432651 ms *************
publication time 7.304905 ms 
whole laserOdometry time 7.319717 ms 
 

1317358128.420743942 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.055407 ms 
mapping data assosiation time 14.157028 ms 
mapping solver time 13.118253 ms 
mapping data assosiation time 13.379423 ms 
mapping solver time 11.780832 ms 
mapping pub time 1.814411 ms 
whole mapping time 85.271937 ms +++++
mappingCount 2308 & avg mapping time 154.440431 ms ++++++++++++++++++++++
map prepare time 1.766478 ms
map corner num 86888  surf num 28657 
build tree time 18.699455 ms 
mapping data assosiation time 15.781652 ms 
mapping solver time 14.808360 ms 
mapping data assosiation time 14.216419 ms 
sort q time 3.992623 
seperate points time 9.158664 
mapping pub time 1.862815 ms 
whole mapping time 93.723406 ms +++++
mappingCount 2309 & avg mapping time 154.414137 ms ++++++++++++++++++++++
-----t: 0.0311297
OdomCount 3529 & avg odom time 0.045694 ms ++++++++++++++++++++++
build tree time 17.050670 ms 
mapping data assosiation time 13.266339 ms 
mapping solver time 16.787129 ms 
points size 69026 
sort q time 3.883902 
seperate points time 8.254336 
-----t: 0.0195304
OdomCount 3530 & avg odom time 0.045687 ms ++++++++++++++++++++++
build tree time 16.667651 ms 
mapping data assosiation time 13.058774 ms 
mapping solver time 14.666953 ms 
mapping data assosiation time 13.566318 ms 
mapping solver time 11.471885 ms 
publication time 5.480555 ms 
whole laserOdometry time 5.503672 ms 
 
-----t: 0.0238598
OdomCount 3531 & avg odom time 0.045681 ms ++++++++++++++++++++++
build tree time 22.830103 ms 
mapping data assosiation time 17.322851 ms 
--------------------stamp1317358128.940099000
sort q time 2.611545 
seperate points time 6.023984 
scan registration time 14.295485 ms *************
mapping data assosiation time 17.831901 ms 
--------------------stamp1317358129.043968915
mapping solver time 19.339055 ms 
publication time 6.233929 ms 
whole laserOdometry time 6.249754 ms 
 
-----t: 0.0310587
OdomCount 3533 & avg odom time 0.045673 ms ++++++++++++++++++++++
filter time 9.091682 ms 
build tree time 23.539509 ms 
--------------------stamp1317358129.147864103
sort q time 3.759040 
seperate points time 7.780459 
scan registration time 15.273725 ms *************
mapping data assosiation time 19.618452 ms 
-----t: 0.0433189
OdomCount 3534 & avg odom time 0.045672 ms ++++++++++++++++++++++
filter time 9.161808 ms 
mapping pub time 1.506720 ms 
whole mapping time 115.172152 ms +++++
mappingCount 2314 & avg mapping time 154.300936 ms ++++++++++++++++++++++
1317358129.043968916 WriteOdom aft_mapped_to_init
build tree time 21.385541 ms 
points size 59906 
scan registration time 17.810984 ms *************
mapping solver time 24.066226 ms 
mapping data assosiation time 16.869180 ms 
mapping solver time 14.848123 ms 
map prepare time 1.842058 ms
map corner num 61793  surf num 21361 
build tree time 12.191900 ms 
--------------------stamp1317358129.355704069
scan registration time 17.770127 ms *************
mapping solver time 22.214052 ms 
mapping data assosiation time 17.339728 ms 
mapping solver time 19.356024 ms 
map prepare time 1.542918 ms
map corner num 62162  surf num 21484 
build tree time 13.979128 ms 
--------------------stamp1317358129.459621906
sort q time 3.953061 
seperate points time 7.590494 
publication time 6.958498 ms 
whole laserOdometry time 6.973965 ms 
 
1317358129.459621906 WriteOdom laser_odom_to_init
1317358129.459621906 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.388281 ms 
map prepare time 1.675131 ms
map corner num 62532  surf num 21608 
build tree time 12.860415 ms 
mapping data assosiation time 15.222748 ms 
points size 58016 
publication time 5.631558 ms 
whole laserOdometry time 5.647116 ms 
 
mapping data assosiation time 19.852251 ms 
-----t: 0.031813
OdomCount 3538 & avg odom time 0.045653 ms ++++++++++++++++++++++
mapping solver time 18.056903 ms 
map prepare time 1.755580 ms
map corner num 62918  surf num 21703 
build tree time 14.999090 ms 
mapping data assosiation time 15.489910 ms 
sort q time 2.865033 
seperate points time 6.493355 
mapping data assosiation time 20.139521 ms 
mapping solver time 14.627928 ms 
mapping pub time 1.415906 ms 
whole mapping time 101.921984 ms +++++
mappingCount 2319 & avg mapping time 154.186129 ms ++++++++++++++++++++++
1317358129.563564062 WriteOdom aft_mapped_to_init
map prepare time 1.638290 ms
map corner num 63310  surf num 21794 
build tree time 13.572835 ms 
mapping data assosiation time 15.882550 ms 
points size 56631 
prepare time 8.185322 
publication time 6.178961 ms 
whole laserOdometry time 6.193594 ms 
 
1317358129.771425008 WriteOdom laser_odom_to_init
1317358129.771425008 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.798610 ms 
map prepare time 1.566338 ms
map corner num 63653  surf num 21918 
build tree time 13.494910 ms 
mapping data assosiation time 14.487984 ms 
points size 57007 
publication time 6.097424 ms 
whole laserOdometry time 6.110830 ms 
 
mapping solver time 12.351492 ms 
--------------------stamp1317358129.979335069
points size 58233 
prepare time 7.082026 
publication time 6.071259 ms 
whole laserOdometry time 6.090133 ms 
 
mapping pub time 100.723434 ms 
whole mapping time 188.080126 ms +++++
mappingCount 2321 & avg mapping time 154.178759 ms ++++++++++++++++++++++
build tree time 14.504389 ms 
mapping data assosiation time 16.617086 ms 
mapping solver time 16.026005 ms 
prepare time 8.063397 
mapping solver time 16.122396 ms 
1317358129.875368118 WriteOdom aft_mapped_to_init
1317358130.083302021 WriteOdom aft_mapped_to_init_high_frec
build tree time 13.683653 ms 
mapping data assosiation time 16.073765 ms 
mapping solver time 15.440610 ms 
--------------------stamp1317358130.187244892
sort q time 3.747185 
seperate points time 8.537027 
publication time 6.809308 ms 
whole laserOdometry time 6.824775 ms 
 
-----t: 0.0307639
OdomCount 3544 & avg odom time 0.045627 ms ++++++++++++++++++++++
build tree time 13.952278 ms 
mapping data assosiation time 15.864007 ms 
mapping solver time 15.508811 ms 
points size 61935 
mapping solver time 13.187950 ms 
-----t: 0.030916
OdomCount 3545 & avg odom time 0.045623 ms ++++++++++++++++++++++
1317358130.291188955 WriteOdom laser_odom_to_init
1317358130.291188955 WriteOdom aft_mapped_to_init_high_frec
map prepare time 1.630813 ms
map corner num 65107  surf num 22452 
build tree time 12.689782 ms 
mapping data assosiation time 16.603427 ms 
mapping solver time 14.958840 ms 
--------------------stamp1317358130.395128965
mapping solver time 12.446514 ms 
mapping pub time 1.437769 ms 
whole mapping time 84.244916 ms +++++
mappingCount 2325 & avg mapping time 154.065741 ms ++++++++++++++++++++++
-----t: 0.0235495
OdomCount 3546 & avg odom time 0.045616 ms ++++++++++++++++++++++
build tree time 13.801139 ms 
mapping data assosiation time 16.161551 ms 
mapping solver time 20.036316 ms 
--------------------stamp1317358130.499047040
sort q time 3.379829 
seperate points time 7.135852 
filter time 6.718666 ms 
map prepare time 1.609245 ms
map corner num 65812  surf num 22754 
build tree time 13.911088 ms 
mapping data assosiation time 13.970559 ms 
mapping solver time 14.222291 ms 
mapping data assosiation time 16.032297 ms 
mapping solver time 12.510461 ms 
mapping optimization time 71.585937 
add points time 0.964622 ms
sort q time 3.620470 
seperate points time 8.713503 
scan registration time 18.284344 ms *************
filter time 7.771713 ms 
mapping pub time 1.529886 ms 
whole mapping time 83.520542 ms +++++
mappingCount 2327 & avg mapping time 154.010229 ms ++++++++++++++++++++++
1317358130.499047041 WriteOdom aft_mapped_to_init
-----t: 0.0310752
OdomCount 3548 & avg odom time 0.045606 ms ++++++++++++++++++++++
build tree time 13.591603 ms 
mapping data assosiation time 15.145398 ms 
mapping solver time 15.760265 ms 
points size 63373 
scan registration time 19.298684 ms *************
filter time 6.179637 ms 
-----t: 0.0354785
OdomCount 3549 & avg odom time 0.045603 ms ++++++++++++++++++++++
build tree time 14.587342 ms 
mapping data assosiation time 14.922083 ms 
mapping solver time 14.345032 ms 
--------------------stamp1317358130.810877084
points size 64353 
sort q time 3.495375 
seperate points time 8.593610 
mapping solver time 20.402295 ms 
map prepare time 1.660693 ms
map corner num 66928  surf num 23231 
build tree time 14.008515 ms 
mapping data assosiation time 15.475946 ms 
mapping solver time 18.512862 ms 
--------------------stamp1317358130.914819002
sort q time 3.531765 
seperate points time 8.479173 
publication time 5.878999 ms 
whole laserOdometry time 5.892186 ms 
 
filter time 7.041189 ms 
-----t: 0.0291145
OdomCount 3551 & avg odom time 0.045592 ms ++++++++++++++++++++++
build tree time 14.788888 ms 
mapping data assosiation time 16.791393 ms 
mapping solver time 15.864267 ms 
points size 67499 
scan registration time 16.645873 ms *************
mapping solver time 15.354956 ms 
[0m[ INFO] [1718890213.957028927, 1317358131.058129237]: Received 91461 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890213.957087196, 1317358131.058129237]: Data saved to 1317358130914819.pcd[0m
map prepare time 1.762458 ms
map corner num 67784  surf num 23677 
build tree time 14.981434 ms 
mapping data assosiation time 15.284584 ms 
mapping solver time 18.381011 ms 
points size 68328 
mapping data assosiation time 19.921138 ms 
publication time 7.682398 ms 
whole laserOdometry time 7.696948 ms 
 
mapping pub time 1.631109 ms 
whole mapping time 103.503134 ms +++++
mappingCount 2332 & avg mapping time 153.884543 ms ++++++++++++++++++++++
map prepare time 2.443904 ms
map corner num 68248  surf num 23934 
build tree time 15.926995 ms 
mapping data assosiation time 16.274460 ms 
--------------------stamp1317358131.226766109
mapping solver time 24.269192 ms 
publication time 8.249533 ms 
whole laserOdometry time 8.263586 ms 
 
mapping solver time 16.523949 ms 
map prepare time 2.219124 ms
map corner num 68719  surf num 24173 
build tree time 13.129709 ms 
mapping data assosiation time 16.601201 ms 
--------------------stamp1317358131.330755949
sort q time 4.520271 
seperate points time 8.811902 
mapping solver time 15.660200 ms 
map prepare time 1.884087 ms
map corner num 69216  surf num 24391 
build tree time 13.617904 ms 
mapping data assosiation time 17.073950 ms 
--------------------stamp1317358131.434746980
sort q time 4.185515 
seperate points time 8.243966 
-----t: 0.0279168
OdomCount 3556 & avg odom time 0.045574 ms ++++++++++++++++++++++
filter time 4.985687 ms 
mapping pub time 1.547470 ms 
whole mapping time 101.182618 ms +++++
mappingCount 2335 & avg mapping time 153.816784 ms ++++++++++++++++++++++
1317358131.330755949 WriteOdom aft_mapped_to_init
map prepare time 1.931049 ms
map corner num 69771  surf num 24635 
build tree time 12.675203 ms 
mapping data assosiation time 17.536812 ms 
mapping solver time 17.236759 ms 
sort q time 3.953141 
seperate points time 7.938346 
publication time 5.461415 ms 
whole laserOdometry time 5.475050 ms 
 
[0m[ INFO] [1718890214.479446933, 1317358131.574010052]: Received 95133 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890214.479476788, 1317358131.574010052]: Data saved to 1317358131434746.pcd[0m
build tree time 15.041322 ms 
mapping data assosiation time 18.851331 ms 
mapping solver time 19.403604 ms 
sort q time 4.412402 
seperate points time 9.417673 
mapping solver time 17.854183 ms 
map prepare time 2.111143 ms
map corner num 70820  surf num 25132 
build tree time 16.617881 ms 
mapping data assosiation time 19.828330 ms 
--------------------stamp1317358131.746790885
sort q time 4.685122 
seperate points time 9.961667 
scan registration time 19.234743 ms *************
-----t: 0.0318997
OdomCount 3559 & avg odom time 0.045560 ms ++++++++++++++++++++++
filter time 5.440831 ms 
build tree time 13.739924 ms 
mapping data assosiation time 20.069594 ms 
--------------------stamp1317358131.850832939
mapping solver time 23.321522 ms 
publication time 7.742773 ms 
whole laserOdometry time 7.759263 ms 
 
mapping data assosiation time 25.949236 ms 
mapping solver time 17.386588 ms 
mapping pub time 1.776990 ms 
whole mapping time 111.736708 ms +++++
mappingCount 2339 & avg mapping time 153.734467 ms ++++++++++++++++++++++
build tree time 12.513739 ms 
mapping data assosiation time 18.259737 ms 
points size 78243 
sort q time 4.630462 
seperate points time 9.478726 
scan registration time 18.630619 ms *************
mapping solver time 26.093714 ms 
publication time 7.402371 ms 
whole laserOdometry time 7.451122 ms 
 
mapping solver time 15.601517 ms 
map prepare time 1.976780 ms
map corner num 66404  surf num 23223 
build tree time 14.277089 ms 
--------------------stamp1317358132.058958053
sort q time 4.823850 
seperate points time 9.299980 
mapping solver time 28.122471 ms 
publication time 10.655729 ms 
whole laserOdometry time 10.674628 ms 
 
mapping data assosiation time 22.856432 ms 
mapping solver time 17.111113 ms 
mapping optimization time 103.890646 
add points time 0.762081 ms
filter time 4.720294 ms 
--------------------stamp1317358132.163069009
sort q time 5.457168 
seperate points time 12.461948 
publication time 9.915358 ms 
whole laserOdometry time 9.950480 ms 
 
-----t: 0.0486706
OdomCount 3563 & avg odom time 0.045551 ms ++++++++++++++++++++++
mapping pub time 107.476426 ms 
whole mapping time 218.873527 ms +++++
mappingCount 2341 & avg mapping time 153.742468 ms ++++++++++++++++++++++
build tree time 14.537341 ms 
points size 81657 
sort q time 4.618666 
seperate points time 10.818807 
mapping solver time 25.579081 ms 
1317358132.267230033 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.747361 ms 
mapping solver time 15.854802 ms 
mapping optimization time 102.916671 
add points time 0.711775 ms
filter time 4.758888 ms 
--------------------stamp1317358132.371388912
points size 82740 
sort q time 5.150045 
seperate points time 12.327124 
mapping data assosiation time 25.761395 ms 
-----t: 0.0340351
OdomCount 3565 & avg odom time 0.045547 ms ++++++++++++++++++++++
mapping solver time 29.578878 ms 
mapping data assosiation time 21.839325 ms 
--------------------stamp1317358132.475544929
mapping solver time 26.000377 ms 
publication time 7.199635 ms 
whole laserOdometry time 7.210472 ms 
 
build tree time 17.454994 ms 
mapping data assosiation time 23.608705 ms 
mapping solver time 27.372578 ms 
--------------------stamp1317358132.579703092
mapping data assosiation time 23.332213 ms 
publication time 7.943212 ms 
whole laserOdometry time 7.957902 ms 
 
add points time 0.810868 ms
drop lidar frame in mapping for real time performance 
build tree time 14.821658 ms 
mapping data assosiation time 22.590356 ms 
points size 85144 
sort q time 5.154974 
seperate points time 11.064140 
publication time 7.772375 ms 
whole laserOdometry time 7.784268 ms 
 
mapping data assosiation time 24.154140 ms 
mapping solver time 17.197931 ms 
mapping pub time 1.862033 ms 
whole mapping time 121.528168 ms +++++
mappingCount 2345 & avg mapping time 153.695177 ms ++++++++++++++++++++++
build tree time 13.383461 ms 
--------------------stamp1317358132.788094043
mapping data assosiation time 23.236539 ms 
publication time 7.326394 ms 
whole laserOdometry time 7.338012 ms 
 
mapping solver time 34.267078 ms 
mapping data assosiation time 23.031658 ms 
mapping solver time 23.457033 ms 
mapping pub time 3.113456 ms 
whole mapping time 130.064661 ms +++++
mappingCount 2346 & avg mapping time 153.685106 ms ++++++++++++++++++++++
build tree time 14.492559 ms 
sort q time 5.590527 
seperate points time 10.848074 
scan registration time 22.092936 ms *************
mapping data assosiation time 27.425548 ms 
mapping solver time 24.838417 ms 
mapping data assosiation time 22.724203 ms 
points size 87332 
sort q time 4.876359 
seperate points time 11.745098 
publication time 9.729415 ms 
whole laserOdometry time 9.758538 ms 
mapping data assosiation time 23.726889 ms 
mapping solver time 23.473955 ms 
points size 88261 
sort q time 4.950485 
seperate points time 9.908551 
publication time 9.582753 ms 
whole laserOdometry time 9.599207 ms 
 
mapping pub time 2.007640 ms 
whole mapping time 129.373308 ms +++++
mappingCount 2348 & avg mapping time 153.663442 ms ++++++++++++++++++++++
-----t: 0.0538548
OdomCount 3572 & avg odom time 0.045536 ms ++++++++++++++++++++++
build tree time 16.672891 ms 
mapping data assosiation time 24.923086 ms 
points size 89039 
sort q time 4.763366 
seperate points time 11.407273 
publication time 10.325226 ms 
whole laserOdometry time 10.342270 ms 
 
mapping data assosiation time 28.192033 ms 
mapping solver time 18.622571 ms 
mapping pub time 2.075777 ms 
whole mapping time 133.071126 ms +++++
mappingCount 2349 & avg mapping time 153.654677 ms ++++++++++++++++++++++
--------------------stamp1317358133.309101104
points size 89967 
sort q time 6.082438 
seperate points time 14.452095 
publication time 8.271743 ms 
whole laserOdometry time 8.281144 ms 
 
mapping solver time 32.730475 ms 
mapping data assosiation time 22.598907 ms 
--------------------stamp1317358133.413260936
points size 90678 
sort q time 4.937826 
seperate points time 11.797485 
publication time 8.906111 ms 
whole laserOdometry time 8.930220 ms 
 
mapping solver time 23.309093 ms 
--------------------stamp1317358133.517420053
prepare time 10.214653 
sort q time 5.129256 
seperate points time 10.821350 
add points time 0.880611 ms
publication time 9.477919 ms 
whole laserOdometry time 9.491234 ms 
 
-----t: 0.0441759
OdomCount 3576 & avg odom time 0.045528 ms ++++++++++++++++++++++
mapping data assosiation time 22.520736 ms 
--------------------stamp1317358133.621581077
mapping solver time 28.459324 ms 
scan registration time 26.989012 ms *************
mapping data assosiation time 29.226245 ms 
-----t: 0.0447381
OdomCount 3577 & avg odom time 0.045528 ms ++++++++++++++++++++++
1317358133.621581077 WriteOdom laser_odom_to_init
1317358133.621581077 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.133744 ms 
mapping optimization time 119.539156 
add points time 0.837675 ms
map prepare time 2.436200 ms
map corner num 72418  surf num 25649 
build tree time 16.757733 ms 
points size 93501 
mapping data assosiation time 27.892977 ms 
publication time 8.769678 ms 
whole laserOdometry time 8.785308 ms 
 
-----t: 0.0502667
OdomCount 3578 & avg odom time 0.045529 ms ++++++++++++++++++++++
mapping data assosiation time 26.810570 ms 
mapping solver time 20.151954 ms 
mapping pub time 2.360321 ms 
whole mapping time 137.759455 ms +++++
mappingCount 2353 & avg mapping time 153.620828 ms ++++++++++++++++++++++
sort q time 5.440475 
seperate points time 12.442113 
publication time 8.437075 ms 
whole laserOdometry time 8.447039 ms 
 
mapping data assosiation time 29.042731 ms 
-----t: 0.0531329
OdomCount 3579 & avg odom time 0.045531 ms ++++++++++++++++++++++
mapping solver time 27.616381 ms 
--------------------stamp1317358133.933984041
sort q time 5.553930 
seperate points time 11.432867 
filter time 7.362766 ms 
-----t: 0.0377721
OdomCount 3580 & avg odom time 0.045529 ms ++++++++++++++++++++++
build tree time 15.939483 ms 
mapping data assosiation time 24.962662 ms 
--------------------stamp1317358134.038094997
mapping solver time 28.968493 ms 
sort q time 5.308403 mapping data assosiation time 31.615574 ms 
-----t: 0.0412563
OdomCount 3581 & avg odom time 0.045528 ms ++++++++++++++++++++++
filter time 5.387723 ms 
map prepare time 2.654705 ms
map corner num 73848  surf num 26178 
build tree time 14.865549 ms 
--------------------stamp1317358134.142205953
points size 100064 
sort q time 6.882620 
seperate points time 13.220007 
mapping solver time 35.114588 ms 
publication time 10.915668 ms 
whole laserOdometry time 10.926139 ms 
 
mapping data assosiation time 26.932547 ms 
mapping solver time 20.115853 ms 
--------------------stamp1317358134.246290922
sort q time 5.817738 
seperate points time 13.390070 
build tree time 20.074921 ms 
publication time 9.416467 ms 
whole laserOdometry time 9.430987 ms 
 
mapping data assosiation time 32.355792 ms 
mapping solver time 27.621670 ms 
--------------------stamp1317358134.350353956
points size 100282 
sort q time 5.754806 
seperate points time 13.524822 
add points time 0.992395 ms
filter time 6.700633 ms 
-----t: 0.0583326
OdomCount 3584 & avg odom time 0.045532 ms ++++++++++++++++++++++
--------------------stamp1317358134.454392910
prepare time 14.208567 
sort q time 5.711267 
seperate points time 13.536389 
publication time 9.995374 ms 
whole laserOdometry time 10.013207 ms 
 
-----t: 0.0588858
OdomCount 3585 & avg odom time 0.045535 ms ++++++++++++++++++++++
mapping solver time 22.241167 ms 
mapping optimization time 132.715794 
add points time 0.898755 ms
filter time 5.569066 ms 
points size 100139 
build tree time 20.309868 ms 
publication time 11.285004 ms 
whole laserOdometry time 11.302585 ms 
 
-----t: 0.0441859
OdomCount 3586 & avg odom time 0.045535 ms ++++++++++++++++++++++
mapping solver time 26.911275 ms 
mapping data assosiation time 27.867524 ms 
sort q time 5.739278 
seperate points time 12.794151 
filter time 7.417494 ms 
publication time 8.750057 ms 
whole laserOdometry time 8.771441 ms 
 
build tree time 19.816797 ms 
mapping data assosiation time 26.217478 ms 
--------------------stamp1317358134.766362905
prepare time 11.507977 
mapping solver time 32.773876 ms 
scan registration time 28.381885 ms *************
publication time 9.303735 ms 
whole laserOdometry time 9.320431 ms 
 
-----t: 0.0469212
OdomCount 3588 & avg odom time 0.045535 ms ++++++++++++++++++++++
mapping solver time 19.629756 ms 
filter time 5.308323 ms 
--------------------stamp1317358134.870282888
sort q time 5.697783 
seperate points time 12.880137 
publication time 9.486789 ms 
whole laserOdometry time 9.501094 ms 
 
mapping solver time 29.247878 ms 
mapping data assosiation time 26.733694 ms 
mapping solver time 13.660462 ms 
[0m[ INFO] [1718890217.878142046, 1317358134.973517776]: Received 104217 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890217.878191448, 1317358134.973517776]: Data saved to 1317358134662396.pcd[0m
sort q time 6.694850 
seperate points time 12.868915 
publication time 10.395428 ms 
whole laserOdometry time 10.414237 ms 
 
--------------------stamp1317358135.077740907
map prepare time 2.663231 ms
map corner num 76735  surf num 27482 
sort q time 5.717809 
seperate points time 13.279880 
mapping data assosiation time 31.076707 ms 
publication time 13.965289 ms 
whole laserOdometry time 13.976656 ms 
 
mapping solver time 27.519545 ms 
--------------------stamp1317358135.181345939
prepare time 11.750405 
sort q time 5.629701 
seperate points time 13.271736 
mapping solver time 33.932848 ms 
mapping pub time 2.340129 ms 
whole mapping time 158.011388 ms +++++
mappingCount 2362 & avg mapping time 153.620856 ms ++++++++++++++++++++++
build tree time 16.674861 ms 
--------------------stamp1317358135.284976959prepare time 13.786988 
sort q time 5.381283 
seperate points time 12.324925 
mapping solver time 38.143279 ms 
mapping data assosiation time 27.479394 ms 
--------------------stamp1317358135.388581991
points size 100072 
map prepare time 2.752153 ms
map corner num 77903  surf num 28061 
sort q time 7.535374 
seperate points time 13.751832 
scan registration time 30.252052 ms *************
publication time 8.638344 ms 
whole laserOdometry time 8.652973 ms 
 
mapping data assosiation time 30.963143 ms 
--------------------stamp1317358135.492187976
sort q time 5.444488 
seperate points time 11.015580 
publication time 9.328444 ms 
whole laserOdometry time 9.343013 ms 
 
mapping solver time 36.267714 ms 
mapping pub time 2.270634 ms 
whole mapping time 162.221664 ms +++++
mappingCount 2364 & avg mapping time 153.626509 ms ++++++++++++++++++++++
build tree time 16.838893 ms 
points size 100615 
mapping data assosiation time 32.946356 ms 
-----t: 0.0425083
OdomCount 3596 & avg odom time 0.045539 ms ++++++++++++++++++++++
mapping solver time 41.302574 ms 
mapping data assosiation time 27.145571 ms 
points size 101064 
mapping solver time 29.100676 ms 
mapping pub time 2.599173 ms 
whole mapping time 163.293110 ms +++++
mappingCount 2365 & avg mapping time 153.630604 ms ++++++++++++++++++++++
build tree time 20.141169 ms 
-----t: 0.0492547
OdomCount 3597 & avg odom time 0.045540 ms ++++++++++++++++++++++
1317358135.699498891 WriteOdom laser_odom_to_init
1317358135.699498891 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.824001 ms 
--------------------stamp1317358135.803103923
points size 101220 
sort q time 5.594393 
seperate points time 13.251914 
scan registration time 32.906230 ms *************
publication time 8.883937 ms 
whole laserOdometry time 8.900352 ms 
 
mapping solver time 22.735429 ms 
filter time 7.701383 ms 
[0m[ INFO] [1718890218.783586262, 1317358135.884898501]: Received 108468 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890218.783620239, 1317358135.884898501]: Data saved to 1317358135595844.pcd[0m
mapping pub time 3.607741 ms 
whole mapping time 148.169712 ms +++++
mappingCount 2366 & avg mapping time 153.628298 ms ++++++++++++++++++++++
1317358135.595844030 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358135.906711101
sort q time 5.876818 
seperate points time 12.915402 
scan registration time 29.658691 ms *************
mapping data assosiation time 31.307143 ms 
publication time 10.714367 ms 
whole laserOdometry time 10.731471 ms 
 
mapping solver time 38.370814 ms 
mapping data assosiation time 26.554269 ms 
points size 102431 
mapping solver time 25.574358 ms 
mapping pub time 2.488390 ms 
whole mapping time 155.325618 ms +++++
mappingCount 2367 & avg mapping time 153.629018 ms ++++++++++++++++++++++
1317358135.699498892 WriteOdom aft_mapped_to_init
-----t: 0.0466565
OdomCount 3600 & avg odom time 0.045539 ms ++++++++++++++++++++++
mapping data assosiation time 25.177664 ms 
--------------------stamp1317358136.113975048
prepare time 11.608873 
mapping solver time 35.420923 ms 
sort q time 6.597809 
seperate points time 14.006395 
scan registration time 31.619593 ms *************
publication time 12.863006 ms 
whole laserOdometry time 12.880472 ms 
 
mapping data assosiation time 33.895000 ms 
mapping solver time 29.425695 ms 
mapping pub time 2.486706 ms 
whole mapping time 165.367968 ms +++++
mappingCount 2368 & avg mapping time 153.633977 ms ++++++++++++++++++++++
points size 102816 
build tree time 22.566747 ms 
sort q time 5.008976 
seperate points time 10.785910 
scan registration time 29.147259 ms *************
publication time 9.565791 ms 
whole laserOdometry time 9.583143 ms 
 
mapping data assosiation time 33.188470 ms 
-----t: 0.0597845
OdomCount 3602 & avg odom time 0.045546 ms ++++++++++++++++++++++
mapping solver time 37.761882 ms 
points size 102860 
-----t: 0.0387936
OdomCount 3603 & avg odom time 0.045544 ms ++++++++++++++++++++++
add points time 1.072896 ms
filter time 5.840582 ms 
build tree time 15.104176 ms 
--------------------stamp1317358136.424961090
points size 102922 
sort q time 5.733548 
seperate points time 13.205384 
-----t: 0.0418942
OdomCount 3604 & avg odom time 0.045543 ms ++++++++++++++++++++++
mapping data assosiation time 29.245357 ms 
--------------------stamp1317358136.528687953
points size 102873 
mapping solver time 32.916610 ms 
filter time 8.826908 ms 
publication time 9.836049 ms 
whole laserOdometry time 9.850514 ms 
 
mapping data assosiation time 24.851205 ms 
--------------------stamp1317358136.632440090
prepare time 11.840612 
sort q time 6.182353 
seperate points time 12.162544 
mapping data assosiation time 32.107759 ms 
-----t: 0.0580348
OdomCount 3606 & avg odom time 0.045547 ms ++++++++++++++++++++++
mapping solver time 31.576086 ms 
[0m[ INFO] [1718890219.626842035, 1317358136.723854203]: Received 112411 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890219.626900464, 1317358136.723854203]: Data saved to 1317358136424961.pcd[0m
--------------------stamp1317358136.736212968
prepare time 11.771118 
sort q time 5.713443 
seperate points time 13.300890 
mapping data assosiation time 30.999851 ms 
-----t: 0.0571285
OdomCount 3607 & avg odom time 0.045550 ms ++++++++++++++++++++++
mapping solver time 36.598316 ms 
--------------------stamp1317358136.839987039
mapping data assosiation time 28.284160 ms 
prepare time 13.783155 
scan registration time 34.039948 ms *************
filter time 6.127207 ms 
-----t: 0.0525792
OdomCount 3608 & avg odom time 0.045552 ms ++++++++++++++++++++++
build tree time 19.977296 ms 
--------------------stamp1317358136.943763017
points size 103125 
mapping solver time 36.325794 ms 
scan registration time 53.116715 ms *************
mapping data assosiation time 29.723082 ms 
publication time 8.545630 ms 
whole laserOdometry time 8.559301 ms 
 
-----t: 0.0564579
OdomCount 3609 & avg odom time 0.045555 ms ++++++++++++++++++++++
1317358136.943763017 WriteOdom laser_odom_to_init
1317358136.943763017 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.132802 ms 
mapping pub time 2.547743 ms 
whole mapping time 154.741272 ms +++++
mappingCount 2373 & avg mapping time 153.657690 ms ++++++++++++++++++++++
sort q time 6.265673 
seperate points time 12.232143 
publication time 8.747266 ms 
whole laserOdometry time 8.761273 ms 
 
-----t: 0.0582485
OdomCount 3610 & avg odom time 0.045558 ms ++++++++++++++++++++++
1317358137.047538995 WriteOdom laser_odom_to_init
1317358137.047538995 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358137.151313066
prepare time 12.046597 
sort q time 5.960870 
seperate points time 12.930716 
filter time 8.521792 ms 
publication time 14.284436 ms 
whole laserOdometry time 14.299486 ms 
 
build tree time 19.735944 ms 
mapping data assosiation time 26.752624 ms 
points size 103054 
mapping solver time 30.476476 ms 
publication time 9.046613 ms 
whole laserOdometry time 9.062119 ms 
 
mapping solver time 21.362662 ms 
filter time 8.077367 ms 
--------------------stamp1317358137.358865976
prepare time 11.332936 
sort q time 5.781227 
seperate points time 13.543156 
mapping data assosiation time 31.551234 ms 
publication time 9.656509 ms 
whole laserOdometry time 9.671506 ms 
 
mapping solver time 29.601077 ms 
mapping data assosiation time 25.716935 ms 
points size 102992 
mapping solver time 24.128397 ms 
mapping optimization time 131.290384 
add points time 0.938907 ms
sort q time 5.999547 
seperate points time 14.208388 
map prepare time 3.501737 ms
map corner num 84487  surf num 31032 
publication time 10.727184 ms 
whole laserOdometry time 10.802366 ms 
 
-----t: 0.0687556
OdomCount 3614 & avg odom time 0.045566 ms ++++++++++++++++++++++
mapping data assosiation time 29.922900 ms 
--------------------stamp1317358137.566411972
prepare time 13.173273 
mapping data assosiation time 30.810412 ms 
-----t: 0.0564337
OdomCount 3615 & avg odom time 0.045569 ms ++++++++++++++++++++++
mapping optimization time 141.520035 
mapping pub time 2.446764 ms 
whole mapping time 154.491145 ms +++++
mappingCount 2377 & avg mapping time 153.646947 ms ++++++++++++++++++++++
--------------------stamp1317358137.670236110
prepare time 11.262441 
sort q time 5.681121 
seperate points time 11.434924 
mapping data assosiation time 30.438794 ms 
publication time 9.633527 ms 
whole laserOdometry time 9.648174 ms 
 
-----t: 0.0487852
OdomCount 3616 & avg odom time 0.045570 ms ++++++++++++++++++++++
1317358137.670236110 WriteOdom laser_odom_to_init
1317358137.670236110 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.806625 ms 
prepare time 11.274136 
sort q time 5.837721 
seperate points time 13.502626 
filter time 9.237574 ms 
mapping pub time 2.438363 ms 
whole mapping time 160.934497 ms +++++
mappingCount 2378 & avg mapping time 153.650014 ms ++++++++++++++++++++++
build tree time 19.523920 ms 
mapping data assosiation time 27.168151 ms 
--------------------stamp1317358137.878168106
points size 102493 
sort q time 5.800076 
seperate points time 11.519815 
publication time 8.886318 ms 
whole laserOdometry time 8.905178 ms 
 
-----t: 0.0518275
OdomCount 3618 & avg odom time 0.045574 ms ++++++++++++++++++++++
1317358137.878168106 WriteOdom laser_odom_to_init
1317358137.878168106 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 26.306888 ms 
mapping optimization time 140.019590 
add points time 1.015177 ms
drop lidar frame in mapping for real time performance 
points size 102365 
sort q time 6.974451 
seperate points time 12.722179 
mapping data assosiation time 28.242888 ms 
mapping solver time 33.223560 ms 
--------------------stamp1317358138.086438894
points size 101787 
sort q time 5.576303 
seperate points time 13.097936 
scan registration time 33.212306 ms *************
mapping solver time 27.963298 ms 
mapping optimization time 143.920119 
add points time 1.009602 ms
map prepare time 2.831939 ms
map corner num 86348  surf num 31712 
build tree time 20.704659 ms 
mapping data assosiation time 26.862875 ms 
points size 101196 
sort q time 5.592673 
seperate points time 13.695860 
publication time 10.014149 ms 
whole laserOdometry time 10.025548 ms 
 
mapping data assosiation time 31.010213 ms 
mapping solver time 29.805828 ms 
filter time 8.287180 ms 
sort q time 16.755163 
seperate points time 24.146789 
publication time 8.585398 ms 
whole laserOdometry time 8.597562 ms 
 
--------------------stamp1317358138.399009943
points size 100565 
sort q time 5.769158 
seperate points time 13.971885 
publication time 9.262964 ms 
whole laserOdometry time 9.276566 ms 
 
-----t: 0.0682039
OdomCount 3623 & avg odom time 0.045578 ms ++++++++++++++++++++++
1317358138.399009943 WriteOdom laser_odom_to_init
1317358138.399009943 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.154433 ms 
--------------------stamp1317358138.503312110
prepare time 12.781303 
sort q time 6.009193 
seperate points time 13.623294 
-----t: 0.0446799
OdomCount 3624 & avg odom time 0.045577 ms ++++++++++++++++++++++
add points time 1.138326 ms
filter time 6.317706 ms 
build tree time 16.426131 ms 
points size 100088 
sort q time 5.725705 
seperate points time 13.201659 
mapping solver time 37.037620 ms 
points size 99384 
prepare time 11.445323 
mapping solver time 39.080564 ms 
mapping optimization time 160.842418 
add points time 1.089315 ms
-----t: 0.0528955
OdomCount 3626 & avg odom time 0.045589 ms ++++++++++++++++++++++
mapping data assosiation time 25.190839 ms 
points size 99698 
sort q time 6.735881 
seperate points time 12.708278 
mapping solver time 40.249084 ms 
publication time 8.605202 ms 
whole laserOdometry time 8.620962 ms 
 
mapping data assosiation time 31.671429 ms 
1317358138.816245079 WriteOdom laser_odom_to_init
mapping solver time 31.425053 ms 
filter time 10.213351 ms 
map prepare time 4.055993 ms
map corner num 88137  surf num 32301 
scan registration time 32.569454 ms *************
-----t: 0.0359268
OdomCount 3628 & avg odom time 0.045590 ms ++++++++++++++++++++++
1317358138.920669078 WriteOdom laser_odom_to_init
1317358138.920669078 WriteOdom aft_mapped_to_init_high_frec
publication time 10.134799 ms 
whole laserOdometry time 10.152266 ms 
 
mapping data assosiation time 28.641325 ms 
--------------------stamp1317358139.025139093
prepare time 10.992348 
sort q time 6.768509 
seperate points time 12.604558 
publication time 7.910061 ms 
whole laserOdometry time 7.924741 ms 
 
mapping solver time 31.885103 ms 
mapping pub time 2.256950 ms 
whole mapping time 166.699392 ms +++++
mappingCount 2385 & avg mapping time 153.729679 ms ++++++++++++++++++++++
1317358138.816245079 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.735797 ms
map corner num 88551  surf num 32426 
build tree time 17.775282 ms 
points size 98854 
sort q time 5.847285 
seperate points time 11.599852 
-----t: 0.0358573
OdomCount 3630 & avg odom time 0.045589 ms ++++++++++++++++++++++
publication time 7.916369 ms 
whole laserOdometry time 7.929265 ms 
 
mapping data assosiation time 27.225478 ms 
--------------------stamp1317358139.234154939
points size 98044 
sort q time 5.484686 
seperate points time 12.646094 
[0m[ INFO] [1718890222.172815826, 1317358139.270155122]: Received 121492 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890222.172853467, 1317358139.270155122]: Data saved to 1317358138920669.pcd[0m
build tree time 23.288687 ms 
mapping data assosiation time 24.087833 ms 
--------------------stamp1317358139.338649034
prepare time 11.025076 
publication time 10.072106 ms 
whole laserOdometry time 10.085338 ms 
 
-----t: 0.0492068
OdomCount 3632 & avg odom time 0.045594 ms ++++++++++++++++++++++
mapping solver time 25.022630 ms 
filter time 8.582085 ms 
--------------------stamp1317358139.443022966
prepare time 11.359845 
sort q time 5.440474 
seperate points time 11.845181 
publication time 7.332330 ms 
whole laserOdometry time 7.348228 ms 
 
-----t: 0.0440854
OdomCount 3633 & avg odom time 0.045593 ms ++++++++++++++++++++++
1317358139.443022966 WriteOdom laser_odom_to_init
1317358139.443022966 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.205440 ms 
--------------------stamp1317358139.547348976
prepare time 10.862170 
scan registration time 27.225158 ms *************
mapping pub time 2.217896 ms 
whole mapping time 156.647033 ms +++++
mappingCount 2388 & avg mapping time 153.737806 ms ++++++++++++++++++++++
-----t: 0.0475839
OdomCount 3634 & avg odom time 0.045594 ms ++++++++++++++++++++++
build tree time 19.604762 ms 
mapping data assosiation time 22.742158 ms 
--------------------stamp1317358139.651649951
mapping solver time 29.048460 ms 
mapping data assosiation time 24.522748 ms 
mapping solver time 23.048011 ms 
filter time 7.576164 ms 
--------------------stamp1317358139.755882024
sort q time 5.620494 
seperate points time 11.030427 
publication time 8.136868 ms 
whole laserOdometry time 8.153131 ms 
 
mapping solver time 32.958455 ms 
mapping data assosiation time 24.108359 ms 
mapping solver time 17.258607 ms 
mapping pub time 2.148622 ms 
whole mapping time 134.542491 ms +++++
mappingCount 2390 & avg mapping time 153.722138 ms ++++++++++++++++++++++
build tree time 22.414834 ms 
publication time 9.803127 ms 
whole laserOdometry time 9.818457 ms 
 
-----t: 0.0420527
OdomCount 3637 & avg odom time 0.045597 ms ++++++++++++++++++++++
mapping solver time 28.895455 ms 
points size 89134 
sort q time 13.126574 
seperate points time 18.582501 
mapping solver time 31.522137 ms 
filter time 8.953372 ms 
build tree time 17.988537 ms 
--------------------stamp1317358140.068309068
mapping data assosiation time 34.985665 ms 
publication time 9.405358 ms 
whole laserOdometry time 9.422014 ms 
 
mapping solver time 34.483824 ms 
-----t: 0.0368653
OdomCount 3639 & avg odom time 0.045593 ms ++++++++++++++++++++++
1317358140.068309068 WriteOdom laser_odom_to_init
1317358140.068309068 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.509325 ms 
mapping solver time 22.391420 ms 
mapping pub time 2.071195 ms 
whole mapping time 148.723571 ms +++++
mappingCount 2392 & avg mapping time 153.721548 ms ++++++++++++++++++++++
sort q time 4.984519 
seperate points time 11.949002 
build tree time 29.292858 ms 
mapping data assosiation time 31.274454 ms 
publication time 31.010745 ms 
whole laserOdometry time 31.028965 ms 
 
-----t: 0.0635086
OdomCount 3640 & avg odom time 0.045598 ms ++++++++++++++++++++++
1317358140.172395944 WriteOdom laser_odom_to_init
1317358140.172395944 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358140.276459932
mapping solver time 32.306372 ms 
prepare time 11.935291 
sort q time 5.506437 
seperate points time 14.582525 
publication time 7.709080 ms 
whole laserOdometry time 7.722961 ms 
 
filter time 6.508340 ms 
build tree time 20.188739 ms 
--------------------stamp1317358140.380497932
points size 84107 
sort q time 5.206017 
seperate points time 11.735515 
mapping solver time 30.734937 ms 
-----t: 0.0454138
OdomCount 3642 & avg odom time 0.045597 ms ++++++++++++++++++++++
mapping data assosiation time 33.465889 ms 
mapping solver time 20.703884 ms 
mapping pub time 2.040215 ms 
whole mapping time 147.363494 ms +++++
mappingCount 2394 & avg mapping time 153.721833 ms ++++++++++++++++++++++
sort q time 4.384613 
seperate points time 9.994539 
publication time 7.251612 ms 
whole laserOdometry time 7.266903 ms 
 
mapping data assosiation time 25.818881 ms 
mapping solver time 24.737398 ms 
--------------------stamp1317358140.588529109
prepare time 8.116262 
sort q time 4.275764 
seperate points time 9.930898 
scan registration time 19.429124 ms *************
filter time 8.914607 ms 
build tree time 18.964969 ms 
mapping data assosiation time 24.439939 ms 
--------------------stamp1317358140.692518949
sort q time 4.205462 
seperate points time 10.009219 
mapping data assosiation time 25.837587 ms 
mapping solver time 22.643420 ms 
mapping optimization time 114.988295 
add points time 0.845712 ms
-----t: 0.0544849
OdomCount 3645 & avg odom time 0.045591 ms ++++++++++++++++++++++
1317358140.692518949 WriteOdom laser_odom_to_init
1317358140.692518949 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.368655 ms
map corner num 93182  surf num 33942 
build tree time 21.379344 ms 
points size 79171 
sort q time 4.031388 
seperate points time 9.282521 
scan registration time 18.168175 ms *************
mapping data assosiation time 25.424503 ms 
mapping solver time 30.242591 ms 
mapping data assosiation time 21.743941 ms 
mapping solver time 19.715952 ms 
--------------------stamp1317358140.900381088
sort q time 4.550876 
seperate points time 8.961538 
publication time 6.435469 ms 
whole laserOdometry time 6.458952 ms 
 
-----t: 0.0393031
OdomCount 3647 & avg odom time 0.045589 ms ++++++++++++++++++++++
mapping solver time 18.974973 ms 
mapping data assosiation time 20.859219 ms 
points size 78079 
sort q time 4.596401 
seperate points time 9.999018 
filter time 8.493290 ms 
-----t: 0.0405764
OdomCount 3648 & avg odom time 0.045587 ms ++++++++++++++++++++++
mapping data assosiation time 19.012918 ms 
mapping solver time 20.129022 ms 
points size 78595 
sort q time 4.335220 
seperate points time 9.909286 
publication time 6.301599 ms 
whole laserOdometry time 6.314586 ms 
 
add points time 0.877403 ms
mapping pub time 1.678970 ms 
whole mapping time 124.949877 ms +++++
mappingCount 2399 & avg mapping time 153.677612 ms ++++++++++++++++++++++
build tree time 19.019527 ms 
mapping data assosiation time 20.239235 ms 
points size 79078 
mapping solver time 21.781955 ms 
publication time 6.260519 ms 
whole laserOdometry time 6.276605 ms 
 
mapping solver time 14.488149 ms 
filter time 6.431479 ms 
build tree time 19.820044 ms 
--------------------stamp1317358141.315864086
sort q time 4.910243 
seperate points time 9.540707 
scan registration time 20.124581 ms *************
mapping solver time 27.326540 ms 
-----t: 0.0260243
OdomCount 3651 & avg odom time 0.045574 ms ++++++++++++++++++++++
1317358141.315864086 WriteOdom laser_odom_to_init
1317358141.315864086 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.812463 ms 
mapping solver time 20.855339 ms 
mapping optimization time 110.227755 
add points time 0.790624 ms
--------------------stamp1317358141.419780969
sort q time 4.294964 
seperate points time 10.352355 
publication time 6.980610 ms 
whole laserOdometry time 6.996535 ms mapping pub time 103.440052 ms 
whole mapping time 223.428832 ms +++++
mappingCount 2401 & avg mapping time 153.688996 ms ++++++++++++++++++++++
1317358141.211971998 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.074800 ms
map corner num 94883  surf num 34365 
--------------------stamp1317358141.523750066
sort q time 4.189419 
seperate points time 9.689672 
scan registration time 20.812566 ms *************
-----t: 0.0323762
OdomCount 3653 & avg odom time 0.045569 ms ++++++++++++++++++++++
mapping data assosiation time 18.066788 ms 
mapping solver time 17.525497 ms 
mapping pub time 1.942975 ms 
whole mapping time 115.678505 ms +++++
mappingCount 2402 & avg mapping time 153.673178 ms ++++++++++++++++++++++
points size 75470 
sort q time 4.043591 
seperate points time 9.513609 
publication time 5.868551 ms 
-----t: 0.0250673
whole laserOdometry time 5.880914 ms 
 
OdomCount 3654 & avg odom time 0.045563 ms ++++++++++++++++++++++
mapping solver time 20.391396 ms 
mapping data assosiation time 18.402716 ms 
mapping solver time 16.910655 ms 
mapping pub time 1.788614 ms 
whole mapping time 113.235115 ms +++++
mappingCount 2403 & avg mapping time 153.656351 ms ++++++++++++++++++++++
sort q time 4.104254 
seperate points time 9.909552 
build tree time 23.562220 ms 
-----t: 0.0309947
OdomCount 3655 & avg odom time 0.045559 ms ++++++++++++++++++++++
mapping solver time 17.494087 ms 
mapping data assosiation time 18.811614 ms 
--------------------stamp1317358141.835768938
filter time 8.920872 ms 
publication time 5.538740 ms 
whole laserOdometry time 5.554915 ms 
 
build tree time 21.536347 ms 
mapping data assosiation time 18.754875 ms 
mapping solver time 17.014607 ms 
mapping data assosiation time 16.606199 ms 
--------------------stamp1317358141.939759969
filter time 9.741508 ms 
publication time 5.569618 ms 
whole laserOdometry time 5.583932 ms 
 
-----t: 0.0285069
OdomCount 3657 & avg odom time 0.045551 ms ++++++++++++++++++++++
1317358141.939759969 WriteOdom laser_odom_to_init
1317358141.939759969 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.046011 ms 
mapping data assosiation time 16.977273 ms 
mapping solver time 17.479919 ms 
mapping data assosiation time 16.833994 ms 
points size 68587 
sort q time 3.559273 
seperate points time 8.003357 
publication time 4.777910 ms 
whole laserOdometry time 4.793243 ms 
 
build tree time 24.050876 ms 
mapping data assosiation time 17.886581 ms 
mapping solver time 20.119607 ms 
--------------------stamp1317358142.147717952
sort q time 3.629070 
seperate points time 8.684402 
publication time 5.552914 ms 
whole laserOdometry time 5.563696 ms 
 
map prepare time 2.489066 ms
map corner num 96791  surf num 34773 
build tree time 21.227554 ms 
mapping data assosiation time 17.479925 ms 
mapping solver time 18.445187 ms 
points size 64642 
publication time 6.080586 ms 
whole laserOdometry time 6.099177 ms 
 
filter time 9.083737 ms 
build tree time 18.507571 ms 
mapping data assosiation time 18.136345 ms 
--------------------stamp1317358142.355581045
sort q time 3.913387 
seperate points time 7.723706 
mapping data assosiation time 19.616056 ms 
-----t: 0.0287044
OdomCount 3661 & avg odom time 0.045531 ms ++++++++++++++++++++++
mapping solver time 26.229240 ms 
filter time 6.439725 ms 
build tree time 21.309130 ms 
--------------------stamp1317358142.459497928
sort q time 3.424963 
seperate points time 7.148645 
mapping solver time 22.818351 ms 
mapping data assosiation time 18.812635 ms 
mapping solver time 16.742165 ms 
mapping optimization time 99.927299 
add points time 0.768002 ms
filter time 7.257211 ms 
build tree time 22.181665 ms 
points size 71519 
sort q time 3.780568 
seperate points time 9.166535 
publication time 6.376676 ms 
whole laserOdometry time 6.392022 ms 
 
-----t: 0.0350878
OdomCount 3663 & avg odom time 0.045528 ms ++++++++++++++++++++++
mapping solver time 13.576763 ms 
filter time 9.083195 ms 
--------------------stamp1317358142.667262077
points size 72833 
sort q time 4.331448 
seperate points time 10.260164 
publication time 6.607382 ms 
whole laserOdometry time 6.623667 ms 
 
-----t: 0.0275714
OdomCount 3664 & avg odom time 0.045523 ms ++++++++++++++++++++++
mapping solver time 17.196568 ms 
mapping solver time 11.808365 ms 
mapping pub time 1.718422 ms 
whole mapping time 111.939565 ms +++++
mappingCount 2412 & avg mapping time 153.502648 ms ++++++++++++++++++++++
points size 75972 
sort q time 4.677371 
seperate points time 10.435207 
publication time 6.406731 ms 
whole laserOdometry time 6.416645 ms 
 
mapping data assosiation time 22.346341 ms 
mapping solver time 16.685151 ms 
mapping data assosiation time 20.872320 ms 
mapping solver time 16.781207 ms 
prepare time 10.042078 
sort q time 4.398854 
seperate points time 10.781196 
publication time 6.417651 ms 
whole laserOdometry time 6.519728 ms -----t: 0.0451718
OdomCount 3666 & avg odom time 0.045520 ms ++++++++++++++++++++++
1317358142.875005006 WriteOdom laser_odom_to_init
1317358142.875005006 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.329905 ms 
mapping data assosiation time 19.142633 ms 
mapping solver time 18.826829 ms 
filter time 9.574538 ms 
mapping pub time 7.463623 ms 
whole mapping time 124.761734 ms +++++
mappingCount 2414 & avg mapping time 153.477516 ms ++++++++++++++++++++++
1317358142.771133900 WriteOdom aft_mapped_to_init
-----t: 0.0416207
OdomCount 3667 & avg odom time 0.045519 ms ++++++++++++++++++++++
build tree time 26.561736 ms 
mapping data assosiation time 18.648890 ms 
--------------------stamp1317358143.082726955
sort q time 5.196131 
seperate points time 10.943670 
1317358143.082726955 WriteOdom laser_odom_to_init
1317358143.082726955 WriteOdom aft_mapped_to_init_high_frec
publication time 8.015430 ms 
whole laserOdometry time 8.030184 ms 
 
mapping solver time 17.635068 ms 
mapping optimization time 107.001977 
add points time 0.869373 ms
drop lidar frame in mapping for real time performance 
build tree time 21.145599 ms 
mapping data assosiation time 17.955909 ms 
points size 91308 
mapping solver time 25.052857 ms 
publication time 6.683194 ms 
whole laserOdometry time 6.721634 ms 
 
mapping solver time 23.132846 ms 
mapping optimization time 111.782142 
add points time 0.860582 ms
--------------------stamp1317358143.290441036
sort q time 5.109734 
seperate points time 11.700614 
mapping solver time 21.427858 ms 
-----t: 0.0477499
OdomCount 3670 & avg odom time 0.045510 ms ++++++++++++++++++++++
mapping solver time 13.129577 ms 
filter time 7.213682 ms 
--------------------stamp1317358143.394310951
points size 93562 
sort q time 5.366855 
seperate points time 12.335493 
mapping data assosiation time 26.829770 ms 
mapping solver time 25.353251 ms 
-----t: 0.0689528
OdomCount 3671 & avg odom time 0.045516 ms ++++++++++++++++++++++
--------------------stamp1317358143.498183012
points size 92553 
filter time 7.315490 ms 
publication time 8.290590 ms 
whole laserOdometry time 8.303740 ms 
 
build tree time 22.530312 ms 
mapping data assosiation time 17.521601 ms 
mapping solver time 20.934558 ms 
--------------------stamp1317358143.602076053
points size 92278 
sort q time 5.224913 
seperate points time 12.114101 
1317358143.394310951 WriteOdom aft_mapped_to_init
publication time 6.436469 ms 
whole laserOdometry time 6.448659 ms 
 
mapping solver time 15.219907 ms 
filter time 9.826486 ms 
build tree time 17.775636 ms 
mapping data assosiation time 15.625000 ms 
mapping solver time 16.976234 ms 
--------------------stamp1317358143.809864997
mapping solver time 12.947703 ms 
filter time 8.012089 ms 
-----t: 0.0367503
OdomCount 3675 & avg odom time 0.045503 ms ++++++++++++++++++++++
--------------------stamp1317358143.913759946
sort q time 4.688282 
seperate points time 9.700552 
publication time 6.509348 ms 
whole laserOdometry time 6.520385 ms 
 
build tree time 19.732400 ms 
mapping data assosiation time 16.891303 ms 
mapping solver time 19.711168 ms 
--------------------stamp1317358144.017654895
sort q time 5.418006 
seperate points time 10.480439 
filter time 7.518294 ms 
publication time 9.166085 ms 
whole laserOdometry time 9.180869 ms 
 
build tree time 17.991928 ms 
mapping data assosiation time 15.987027 ms 
mapping solver time 19.310095 ms 
--------------------stamp1317358144.121540069
prepare time 8.875373 
sort q time 5.663223 
seperate points time 11.284172 
mapping solver time 21.070813 ms 
mapping pub time 2.093743 ms 
whole mapping time 107.906699 ms +++++
mappingCount 2423 & avg mapping time 153.372479 ms ++++++++++++++++++++++
-----t: 0.0380664
OdomCount 3678 & avg odom time 0.045497 ms ++++++++++++++++++++++
build tree time 18.440752 ms 
mapping data assosiation time 16.632074 ms 
mapping solver time 18.800046 ms 
points size 94204 
sort q time 5.763370 
seperate points time 11.971262 
scan registration time 22.810134 ms *************
add points time 1.088205 ms
drop lidar frame in mapping for real time performance 
build tree time 19.016153 ms 
mapping data assosiation time 16.976384 ms 
--------------------stamp1317358144.329314947
sort q time 5.167906 
seperate points time 10.097127 
publication time 6.812695 ms 
whole laserOdometry time 6.827095 ms 
 
-----t: 0.030131
OdomCount 3680 & avg odom time 0.045489 ms ++++++++++++++++++++++
1317358144.329314947 WriteOdom laser_odom_to_init
1317358144.329314947 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.202795 ms 
mapping optimization time 95.758510 
add points time 0.754226 ms
map prepare time 2.009725 ms
map corner num 80073  surf num 29408 
build tree time 16.781372 ms 
mapping data assosiation time 15.097221 ms 
--------------------stamp1317358144.433211088
mapping data assosiation time 19.618758 ms 
publication time 7.476426 ms 
whole laserOdometry time 7.493746 ms 
 
filter time 5.721915 ms 
mapping data assosiation time 15.924485 ms 
mapping solver time 18.066045 ms 
sort q time 5.320191 
seperate points time 11.882251 
publication time 7.766118 ms 
whole laserOdometry time 7.774063 ms 
 
mapping optimization time 89.561118 
add points time 0.886648 ms
-----t: 0.035468
OdomCount 3682 & avg odom time 0.045482 ms ++++++++++++++++++++++
1317358144.537106037 WriteOdom laser_odom_to_init
1317358144.537106037 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.405384 ms 
mapping data assosiation time 16.604771 ms 
points size 97326 
sort q time 5.766692 
seperate points time 14.117125 
mapping data assosiation time 20.812971 ms 
publication time 9.104180 ms 
whole laserOdometry time 9.129199 ms 
 
add points time 0.828449 ms
map prepare time 2.008299 ms
map corner num 81118  surf num 29621 
build tree time 18.257840 ms 
--------------------stamp1317358144.744822978
prepare time 13.683617 
sort q time 5.558452 
seperate points time 12.754367 
mapping solver time 22.627341 ms 
publication time 9.523832 ms 
whole laserOdometry time 9.538100 ms 
 
mapping solver time 12.038924 ms 
mapping pub time 2.214356 ms 
whole mapping time 112.099481 ms +++++
mappingCount 2429 & avg mapping time 153.259356 ms ++++++++++++++++++++++
1317358144.640976906 WriteOdom aft_mapped_to_init
map prepare time 2.187799 ms
map corner num 81444  surf num 29671 
--------------------stamp1317358144.848716020
points size 98786 
scan registration time 32.388645 ms *************
publication time 6.690976 ms 
whole laserOdometry time 6.723252 ms 
 
mapping solver time 16.665990 ms 
mapping pub time 2.175796 ms 
whole mapping time 109.566899 ms +++++
mappingCount 2430 & avg mapping time 153.241376 ms ++++++++++++++++++++++
--------------------stamp1317358144.952609062
points size 100351 
mapping data assosiation time 20.821373 ms 
sort q time 6.514010 
seperate points time 14.948313 
publication time 5.927911 ms 
whole laserOdometry time 5.942116 ms 
 
-----t: 0.0446625
OdomCount 3686 & avg odom time 0.045480 ms ++++++++++++++++++++++
mapping data assosiation time 19.284809 ms 
mapping solver time 13.716716 ms 
[0m[ INFO] [1718890227.948662177, 1317358145.042374167]: Received 111926 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890227.948691150, 1317358145.042374167]: Data saved to 1317358144848716.pcd[0m
points size 99062 
build tree time 19.640072 ms 
scan registration time 31.447883 ms *************
publication time 6.929306 ms 
whole laserOdometry time 6.942717 ms 
 
1317358145.056480884 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.929889 ms 
mapping data assosiation time 17.738752 ms 
mapping solver time 12.111526 ms 
mapping pub time 2.277438 ms 
whole mapping time 102.181425 ms +++++
mappingCount 2432 & avg mapping time 153.204236 ms ++++++++++++++++++++++
points size 95455 
build tree time 21.643943 ms 
mapping data assosiation time 20.148320 ms 
mapping solver time 20.334127 ms 
mapping data assosiation time 16.039297 ms 
mapping solver time 11.976605 ms 
mapping optimization time 91.188225 
add points time 0.801371 ms
points size 93535 
build tree time 20.507662 ms 
publication time 8.496550 ms 
whole laserOdometry time 8.523297 ms 
 
-----t: 0.0370581
OdomCount 3689 & avg odom time 0.045472 ms ++++++++++++++++++++++
mapping solver time 18.404649 ms 
mapping data assosiation time 17.023360 ms 
mapping solver time 14.036931 ms 
mapping pub time 2.365095 ms 
whole mapping time 106.168114 ms +++++
mappingCount 2434 & avg mapping time 153.164733 ms ++++++++++++++++++++++
sort q time 4.506940 
seperate points time 10.037201 
publication time 8.710540 ms 
whole laserOdometry time 8.727762 ms 
 
mapping data assosiation time 21.596707 ms 
mapping solver time 22.293433 ms 
mapping data assosiation time 19.486979 ms 
points size 93246 
sort q time 5.584793 
seperate points time 10.978975 
scan registration time 22.353507 ms *************
build tree time 19.117063 ms 
mapping data assosiation time 18.639005 ms 
mapping solver time 21.323177 ms 
--------------------stamp1317358145.575882911
points size 92101 
mapping solver time 18.180622 ms 
filter time 6.629930 ms 
map prepare time 3.177238 ms
map corner num 84267  surf num 30477 
publication time 8.824840 ms 
whole laserOdometry time 8.834073 ms 
 
build tree time 17.695428 ms 
mapping data assosiation time 20.603789 ms 
mapping solver time 19.055149 ms 
points size 91639 
mapping solver time 16.759573 ms 
mapping pub time 2.077688 ms 
whole mapping time 111.475810 ms +++++
mappingCount 2437 & avg mapping time 153.117931 ms ++++++++++++++++++++++
-----t: 0.0459238
OdomCount 3693 & avg odom time 0.045466 ms ++++++++++++++++++++++
mapping data assosiation time 17.614272 ms 
--------------------stamp1317358145.783626079
sort q time 5.226338 
seperate points time 11.252627 
scan registration time 21.641793 ms *************
mapping data assosiation time 21.503926 ms 
mapping solver time 18.102610 ms 
mapping pub time 1.993320 ms 
whole mapping time 110.869929 ms +++++
mappingCount 2438 & avg mapping time 153.100604 ms ++++++++++++++++++++++
build tree time 17.001503 ms 
mapping data assosiation time 20.327552 ms 
points size 93493 
sort q time 5.573123 
seperate points time 12.597653 
mapping data assosiation time 22.371703 ms 
-----t: 0.0424084
OdomCount 3695 & avg odom time 0.045463 ms ++++++++++++++++++++++
1317358145.887521982 WriteOdom laser_odom_to_init
1317358145.887521982 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 21.662024 ms 
mapping optimization time 101.868990 
add points time 0.754238 ms
build tree time 17.764257 ms 
--------------------stamp1317358145.991416931
prepare time 9.099350 
sort q time 5.945385 
seperate points time 11.196898 
scan registration time 22.109688 ms *************
publication time 7.475761 ms 
whole laserOdometry time 7.495448 ms 
 
-----t: 0.0468896
OdomCount 3696 & avg odom time 0.045464 ms ++++++++++++++++++++++
filter time 5.672697 ms 
build tree time 16.053475 ms 
points size 93930 
prepare time 8.754277 
publication time 7.018455 ms 
whole laserOdometry time 7.034016 ms 
 
-----t: 0.0326647
OdomCount 3697 & avg odom time 0.045460 ms ++++++++++++++++++++++
mapping data assosiation time 22.459171 ms 
mapping solver time 14.704979 ms 
[0m[ INFO] [1718890229.084080644, 1317358146.179220028]: Received 118852 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890229.084122355, 1317358146.179220028]: Data saved to 1317358145991416.pcd[0m
--------------------stamp1317358146.199157953
sort q time 5.401294 
seperate points time 12.501939 
-----t: 0.0334469
OdomCount 3698 & avg odom time 0.045457 ms ++++++++++++++++++++++
mapping pub time 107.592134 ms 
whole mapping time 218.337104 ms +++++
mappingCount 2441 & avg mapping time 153.094609 ms ++++++++++++++++++++++
--------------------stamp1317358146.303051948
prepare time 10.656719 
build tree time 21.156143 ms 
mapping data assosiation time 20.778764 ms 
mapping solver time 18.072890 ms 
mapping data assosiation time 18.706411 ms 
mapping solver time 15.232198 ms 
mapping pub time 2.110788 ms 
whole mapping time 107.745752 ms +++++
mappingCount 2442 & avg mapping time 153.076040 ms ++++++++++++++++++++++
points size 94093 
sort q time 5.903406 
seperate points time 11.846168 
publication time 7.070725 ms 
whole laserOdometry time 7.087095 ms 
 
-----t: 0.0542539
OdomCount 3700 & avg odom time 0.045459 ms ++++++++++++++++++++++
mapping data assosiation time 18.058547 ms 
--------------------stamp1317358146.510889053
filter time 8.728896 ms 
build tree time 21.395614 ms 
mapping data assosiation time 19.411600 ms 
mapping solver time 19.990119 ms 
mapping data assosiation time 18.302065 ms 
points size 91362 
prepare time 8.976943 
filter time 8.413841 ms 
-----t: 0.0299456
OdomCount 3702 & avg odom time 0.045452 ms ++++++++++++++++++++++
build tree time 19.204347 ms 
mapping data assosiation time 16.890148 ms 
mapping solver time 16.991414 ms 
--------------------stamp1317358146.718750953
sort q time 5.462718 
seperate points time 10.472722 
filter time 8.135876 ms 
-----t: 0.0358632
OdomCount 3703 & avg odom time 0.045449 ms ++++++++++++++++++++++
build tree time 20.142288 ms 
mapping data assosiation time 16.999666 ms 
mapping solver time 17.994966 ms 
--------------------stamp1317358146.822741985
sort q time 5.694893 
seperate points time 10.597724 
filter time 8.252405 ms 
[0m[ INFO] [1718890229.767297308, 1317358146.864962065]: Received 122196 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890229.767331740, 1317358146.864962065]: Data saved to 1317358146614806.pcd[0m
build tree time 17.813744 ms 
mapping solver time 19.592818 ms 
points size 88362 
sort q time 5.450382 
seperate points time 10.497588 
mapping solver time 16.478008 ms 
publication time 7.040416 ms 
whole laserOdometry time 7.056117 ms 
 
filter time 8.443008 ms 
-----t: 0.0353885
OdomCount 3705 & avg odom time 0.045442 ms ++++++++++++++++++++++
build tree time 17.949505 ms 
mapping data assosiation time 17.629699 ms 
mapping solver time 16.931969 ms 
points size 87835 
mapping data assosiation time 22.950937 ms 
sort q time 6.167664 
seperate points time 11.194554 
scan registration time 23.027517 ms *************
filter time 8.271820 ms 
mapping pub time 2.088899 ms 
whole mapping time 106.612035 ms +++++
mappingCount 2448 & avg mapping time 152.972976 ms ++++++++++++++++++++++
-----t: 0.0456517
OdomCount 3706 & avg odom time 0.045442 ms ++++++++++++++++++++++
build tree time 19.708275 ms 
--------------------stamp1317358147.134738922
sort q time 12.980050 
seperate points time 18.102117 
publication time 7.706512 ms 
whole laserOdometry time 7.718714 ms 
 
mapping solver time 17.287603 ms 
mapping optimization time 102.983641 
add points time 0.816262 ms
filter time 6.232151 ms 
build tree time 17.803856 ms 
points size 86995 
sort q time 5.060915 
seperate points time 11.723685 
publication time 7.427531 ms 
whole laserOdometry time 7.445071 ms 
 
mapping data assosiation time 20.973599 ms 
mapping solver time 14.644918 ms 
filter time 8.267591 ms 
--------------------stamp1317358147.342791080
points size 87033 
build tree time 20.532376 ms 
sort q time 5.589158 
seperate points time 13.000207 
scan registration time 25.329086 ms *************
mapping data assosiation time 21.898119 ms 
mapping solver time 18.373393 ms 
mapping data assosiation time 17.825820 ms 
mapping solver time 12.683523 ms 
mapping optimization time 92.497958 
add points time 0.756089 ms
--------------------stamp1317358147.446855068
build tree time 20.660527 ms 
sort q time 5.306156 
seperate points time 16.117059 
publication time 6.943716 ms 
whole laserOdometry time 6.973502 ms 
 
mapping solver time 22.135357 ms 
mapping data assosiation time 17.999757 ms 
mapping solver time 14.223777 ms 
--------------------stamp1317358147.550940990
map prepare time 2.684113 ms
map corner num 86526  surf num 30512 
build tree time 18.713580 ms 
mapping data assosiation time 22.505561 ms 
publication time 6.669029 ms 
whole laserOdometry time 6.681155 ms 
 
mapping solver time 30.913509 ms 
mapping data assosiation time 18.809213 ms 
--------------------stamp1317358147.655075073
filter time 6.529536 ms 
publication time 8.784108 ms 
whole laserOdometry time 8.798499 ms 
 
mapping data assosiation time 18.121932 ms 
mapping solver time 18.708172 ms 
mapping data assosiation time 18.926992 ms 
points size 86099 
sort q time 4.403563 
seperate points time 10.151662 
scan registration time 24.396435 ms *************
mapping pub time 2.233606 ms 
whole mapping time 108.760909 ms +++++
mappingCount 2454 & avg mapping time 152.874204 ms ++++++++++++++++++++++
1317358147.550940990 WriteOdom aft_mapped_to_init
map prepare time 3.065663 ms
map corner num 87654  surf num 30917 
-----t: 0.0330116
OdomCount 3713 & avg odom time 0.045418 ms ++++++++++++++++++++++
1317358147.759234905 WriteOdom laser_odom_to_init
1317358147.759234905 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.398181 ms 
mapping data assosiation time 18.589928 ms 
mapping solver time 18.177482 ms 
--------------------stamp1317358147.863390922
prepare time 8.176008 
sort q time 5.177863 
seperate points time 10.066793 
mapping solver time 24.048619 ms 
mapping pub time 1.983674 ms 
whole mapping time 118.945281 ms +++++
mappingCount 2455 & avg mapping time 152.860385 ms ++++++++++++++++++++++
1317358147.655075073 WriteOdom aft_mapped_to_init
build tree time 18.565188 ms 
mapping data assosiation time 19.052903 ms 
mapping solver time 19.082771 ms 
sort q time 5.131859 
seperate points time 10.922809 
scan registration time 21.122343 ms *************
-----t: 0.0348726
OdomCount 3715 & avg odom time 0.045411 ms ++++++++++++++++++++++
mapping solver time 29.952928 ms 
filter time 7.812527 ms 
build tree time 17.531623 ms 
--------------------stamp1317358148.071732997
mapping data assosiation time 21.644507 ms 
sort q time 5.438630 
seperate points time 10.393561 
scan registration time 20.883081 ms *************
mapping data assosiation time 24.247312 ms 
mapping solver time 15.817335 ms 
filter time 6.000776 ms 
mapping pub time 1.965677 ms 
whole mapping time 114.423178 ms +++++
mappingCount 2457 & avg mapping time 152.836227 ms ++++++++++++++++++++++
1317358147.967549086 WriteOdom aft_mapped_to_init
map prepare time 2.225067 ms
map corner num 89257  surf num 31500 
--------------------stamp1317358148.175939083
sort q time 5.070312 
seperate points time 10.319301 
publication time 8.212764 ms 
whole laserOdometry time 8.228264 ms 
 
mapping solver time 28.902896 ms 
mapping data assosiation time 19.602103 ms 
mapping solver time 19.833992 ms 
points size 90159 
sort q time 5.063004 
seperate points time 11.195807 
publication time 7.496070 ms 
whole laserOdometry time 7.509750 ms 
 
-----t: 0.0392813
OdomCount 3718 & avg odom time 0.045407 ms ++++++++++++++++++++++
1317358148.280170917 WriteOdom laser_odom_to_init
1317358148.280170917 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.590295 ms 
mapping solver time 23.899272 ms 
mapping data assosiation time 20.599791 ms 
points size 91120 
mapping solver time 24.448810 ms 
sort q time 5.552512 
seperate points time 11.376927 
mapping pub time 2.136657 ms 
whole mapping time 130.317759 ms +++++
mappingCount 2459 & avg mapping time 152.816423 ms ++++++++++++++++++++++
-----t: 0.0408451
OdomCount 3719 & avg odom time 0.045406 ms ++++++++++++++++++++++
mapping data assosiation time 20.723875 ms 
--------------------stamp1317358148.488657951
sort q time 4.676410 
seperate points time 10.416343 
publication time 8.846494 ms 
whole laserOdometry time 8.867787 ms 
 
mapping solver time 24.416224 ms 
mapping pub time 2.130597 ms 
whole mapping time 133.963126 ms +++++
mappingCount 2460 & avg mapping time 152.808760 ms ++++++++++++++++++++++
build tree time 20.843035 ms 
--------------------stamp1317358148.592889070
sort q time 4.455677 
seperate points time 10.233153 
mapping solver time 30.670183 ms 
mapping data assosiation time 20.903111 ms 
mapping solver time 20.045636 ms 
[0m[ INFO] [1718890231.584624765, 1317358148.684096687]: Received 123328 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890231.584663945, 1317358148.684096687]: Data saved to 1317358148384428.pcd[0m

scan registration time 25.191388 ms *************
-----t: 0.0443476
OdomCount 3722 & avg odom time 0.045399 ms ++++++++++++++++++++++
1317358148.384428024 WriteOdom aft_mapped_to_init
points size 93611 
build tree time 24.572462 ms 
publication time 7.787885 ms 
whole laserOdometry time 7.855906 ms 
 
-----t: 0.0468984
OdomCount 3723 & avg odom time 0.045399 ms ++++++++++++++++++++++
mapping solver time 28.898791 ms 
mapping data assosiation time 20.483799 ms 
--------------------stamp1317358148.905603885
points size 94450 
map prepare time 3.057975 ms
map corner num 91663  surf num 32341 
publication time 8.782218 ms 
whole laserOdometry time 8.809638 ms 
 
mapping data assosiation time 21.054610 ms 
mapping solver time 23.537605 ms 
--------------------stamp1317358149.009856939
sort q time 4.882660 
seperate points time 11.127454 
map prepare time 3.038124 ms
map corner num 92175  surf num 32539 
build tree time 20.829642 ms 
mapping data assosiation time 20.621387 ms 
--------------------stamp1317358149.114089012
sort q time 5.376698 
seperate points time 10.855169 
mapping data assosiation time 25.589528 ms 
mapping solver time 17.322339 ms 
mapping pub time 2.162974 ms 
whole mapping time 120.928911 ms +++++
mappingCount 2464 & avg mapping time 152.808561 ms ++++++++++++++++++++++
build tree time 19.363517 ms 
--------------------stamp1317358149.218297004
sort q time 5.351694 
seperate points time 11.664879 
publication time 9.750330 ms 
whole laserOdometry time 9.759403 ms 
 
mapping solver time 20.933631 ms 
filter time 7.598610 ms 
--------------------stamp1317358149.322478055
sort q time 5.684818 
seperate points time 11.067387 
publication time 7.305311 ms 
whole laserOdometry time 7.323819 ms 
 
mapping solver time 28.760566 ms 
mapping data assosiation time 24.501186 ms 
--------------------stamp1317358149.426589965
prepare time 10.906808 
map prepare time 3.162507 ms
map corner num 93499  surf num 33163 
build tree time 23.324398 ms 
mapping data assosiation time 23.660510 ms 
mapping solver time 26.725875 ms 
points size 97135 
mapping data assosiation time 40.708534 ms 
-----t: 0.0448162
OdomCount 3730 & avg odom time 0.045390 ms ++++++++++++++++++++++
filter time 6.951382 ms 
map prepare time 2.539630 ms
map corner num 93941  surf num 33377 
build tree time 19.543029 ms 
--------------------stamp1317358149.634763956
prepare time 12.190517 
sort q time 6.291229 
seperate points time 12.688936 
mapping solver time 27.388770 ms 
-----t: 0.049678
OdomCount 3731 & avg odom time 0.045391 ms ++++++++++++++++++++++
mapping solver time 20.480196 ms 
filter time 8.710257 ms 
points size 98176 
sort q time 6.800102 
seperate points time 13.913045 
publication time 9.936557 ms 
whole laserOdometry time 9.946124 ms 
 
mapping data assosiation time 27.329282 ms 
mapping solver time 25.590588 ms 
--------------------stamp1317358149.842890024
sort q time 5.404369 
seperate points time 10.891762 
scan registration time 23.185085 ms *************
mapping solver time 24.553740 ms 
mapping optimization time 128.453559 
mapping pub time 2.139185 ms 
whole mapping time 143.194347 ms +++++
mappingCount 2469 & avg mapping time 152.781482 ms ++++++++++++++++++++++
-----t: 0.0474334
OdomCount 3733 & avg odom time 0.045393 ms ++++++++++++++++++++++
build tree time 22.715010 ms 
mapping data assosiation time 21.438667 ms 
--------------------stamp1317358149.946930885
prepare time 10.975857 
sort q time 5.378931 
seperate points time 12.297007 
mapping data assosiation time 25.111550 ms 
-----t: 0.0485402
OdomCount 3734 & avg odom time 0.045393 ms ++++++++++++++++++++++
mapping pub time 2.168152 ms 
whole mapping time 130.380114 ms +++++
mappingCount 2470 & avg mapping time 152.772414 ms ++++++++++++++++++++++
build tree time 18.938035 ms 
points size 97779 
sort q time 5.854826 
seperate points time 12.680824 
publication time 8.510687 ms 
whole laserOdometry time 8.527831 ms 
 
-----t: 0.0439722
OdomCount 3735 & avg odom time 0.045393 ms ++++++++++++++++++++++
mapping data assosiation time 23.932105 ms 
mapping solver time 22.106165 ms 
filter time 9.343097 ms 
sort q time 5.434239 
seperate points time 12.713914 
build tree time 24.162783 ms 
publication time 13.542318 ms 
whole laserOdometry time 13.560703 ms 
 
-----t: 0.0591672
OdomCount 3736 & avg odom time 0.045397 ms ++++++++++++++++++++++
mapping solver time 22.252646 ms 
--------------------stamp1317358150.258827924
mapping data assosiation time 27.609774 ms 
scan registration time 28.555271 ms *************
filter time 8.802724 ms 
-----t: 0.0567737
OdomCount 3737 & avg odom time 0.045400 ms ++++++++++++++++++++++
mapping data assosiation time 23.059681 ms 
--------------------stamp1317358150.362747907
mapping solver time 22.099143 ms 
publication time 8.020823 ms 
whole laserOdometry time 8.034356 ms 
 
mapping solver time 19.377484 ms 
1317358150.154910088 WriteOdom aft_mapped_to_init
--------------------stamp1317358150.466640949
sort q time 6.568066 
seperate points time 12.855354 
mapping solver time 35.065806 ms 
mapping data assosiation time 22.079470 ms 
--------------------stamp1317358150.570511102
prepare time 13.253587 
sort q time 5.507681 
seperate points time 12.774302 
build tree time 24.850590 ms 
mapping data assosiation time 23.976849 ms 
mapping solver time 20.070830 ms 
--------------------stamp1317358150.674381017
mapping data assosiation time 24.020815 ms 
mapping solver time 16.325362 ms 
1317358150.466640949 WriteOdom aft_mapped_to_init
-----t: 0.0354457
OdomCount 3741 & avg odom time 0.045399 ms ++++++++++++++++++++++
mapping data assosiation time 20.694529 ms 
--------------------stamp1317358150.778228044
points size 99987 
sort q time 5.291063 
seperate points time 10.964488 
mapping data assosiation time 26.607607 ms 
mapping solver time 23.002890 ms 
mapping optimization time 122.699431 
add points time 0.799728 ms
map prepare time 2.510968 ms
map corner num 97503  surf num 34976 
--------------------stamp1317358150.882050991
points size 94610 
mapping data assosiation time 25.075058 ms 
publication time 8.375571 ms 
whole laserOdometry time 8.388262 ms 
 
-----t: 0.0445866
OdomCount 3743 & avg odom time 0.045395 ms ++++++++++++++++++++++
1317358150.882050991 WriteOdom laser_odom_to_init
1317358150.882050991 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.649923 ms 
mapping solver time 21.482391 ms 
mapping pub time 2.293143 ms 
whole mapping time 138.900706 ms +++++
mappingCount 2477 & avg mapping time 152.727218 ms ++++++++++++++++++++++
sort q time 5.279501 
seperate points time 11.113958 
build tree time 21.753321 ms 
publication time 8.914267 ms 
whole laserOdometry time 8.925090 ms 
 
-----t: 0.0595543
OdomCount 3744 & avg odom time 0.045399 ms ++++++++++++++++++++++
mapping solver time 26.061492 ms 
--------------------stamp1317358151.089793920
points size 93239 
sort q time 5.216195 
seperate points time 12.516586 
mapping solver time 24.769838 ms 
filter time 10.049999 ms 
-----t: 0.0593654
OdomCount 3745 & avg odom time 0.045403 ms ++++++++++++++++++++++
1317358151.089793920 WriteOdom laser_odom_to_init
1317358151.089793920 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.899161 ms 
--------------------stamp1317358151.193710088
sort q time 5.472556 
seperate points time 13.664271 
publication time 8.126945 ms 
whole laserOdometry time 8.146715 ms 
 
mapping data assosiation time 27.172371 ms 
mapping solver time 16.118706 ms 
mapping optimization time 122.896895 
add points time 0.778576 ms
filter time 6.669650 ms 
--------------------stamp1317358151.297629117
points size 92429 
sort q time 5.850559 
seperate points time 13.897228 
mapping data assosiation time 25.481661 ms 
mapping solver time 26.298791 ms 
mapping data assosiation time 23.521938 ms 
--------------------stamp1317358151.401525974
points size 92402 
filter time 9.756730 ms 
publication time 8.512949 ms 
whole laserOdometry time 8.529870 ms 
 
build tree time 23.742621 ms 
mapping data assosiation time 22.698866 ms 
mapping solver time 25.307967 ms 
points size 92934 
mapping data assosiation time 29.080133 ms 
sort q time 6.110612 
seperate points time 14.354744 
publication time 7.453316 ms 
whole laserOdometry time 7.470870 ms 
 
mapping optimization time 126.863205 
[0m[ INFO] [1718890234.469427415, 1317358151.568970918]: Received 135512 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890234.469481694, 1317358151.568970918]: Data saved to 1317358151297629.pcd[0m
--------------------stamp1317358151.609292030
sort q time 4.653212 
seperate points time 10.192905 
publication time 8.341541 ms 
whole laserOdometry time 8.353325 ms 
 
mapping pub time 103.913401 ms 
whole mapping time 241.179556 ms +++++
mappingCount 2481 & avg mapping time 152.748967 ms ++++++++++++++++++++++
build tree time 21.285128 ms 
--------------------stamp1317358151.713210105
points size 95195 
mapping data assosiation time 24.679582 ms 
sort q time 5.489149 
seperate points time 13.030892 
mapping solver time 30.371414 ms 
-----t: 0.041306
OdomCount 3751 & avg odom time 0.045397 ms ++++++++++++++++++++++
mapping data assosiation time 27.127111 ms 
mapping solver time 21.381616 ms 
filter time 8.913964 ms 
points size 97023 
sort q time 5.528255 
seperate points time 12.904563 
-----t: 0.0365416
OdomCount 3752 & avg odom time 0.045395 ms ++++++++++++++++++++++
mapping solver time 23.225051 ms 
--------------------stamp1317358151.921024084
points size 98217 
mapping solver time 20.808404 ms 
mapping pub time 2.299653 ms 
whole mapping time 140.390689 ms +++++
mappingCount 2483 & avg mapping time 152.739432 ms ++++++++++++++++++++++
publication time 7.976887 ms 
whole laserOdometry time 7.991333 ms 
 
build tree time 26.460733 ms 
mapping data assosiation time 20.553461 ms 
--------------------stamp1317358152.024893999
prepare time 13.346492 
sort q time 5.752150 
seperate points time 12.455871 
-----t: 0.0338639
OdomCount 3754 & avg odom time 0.045391 ms ++++++++++++++++++++++
1317358152.024893999 WriteOdom laser_odom_to_init
1317358152.024893999 WriteOdom aft_mapped_to_init_high_frec
publication time 8.155725 ms 
whole laserOdometry time 8.168196 ms 
 
filter time 7.055368 ms 
mapping pub time 2.385390 ms 
whole mapping time 133.378708 ms +++++
mappingCount 2484 & avg mapping time 152.731639 ms ++++++++++++++++++++++
1317358151.817128897 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 23.094484 ms 
points size 98006 
mapping data assosiation time 24.918731 ms 
-----t: 0.0371632
OdomCount 3755 & avg odom time 0.045388 ms ++++++++++++++++++++++
sort q time 6.680780 
seperate points time 15.441840 
publication time 8.557029 ms 
whole laserOdometry time 8.571245 ms 
 
mapping solver time 23.799737 ms 
mapping data assosiation time 21.930536 ms 
--------------------stamp1317358152.336364984
points size 98231 
[0m[ INFO] [1718890235.258181790, 1317358152.352644971]: Received 148688 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890235.258230349, 1317358152.352644971]: Data saved to 1317358152128740.pcd[0m
-----t: 0.0362395
OdomCount 3757 & avg odom time 0.045385 ms ++++++++++++++++++++++
build tree time 28.879080 ms 
mapping data assosiation time 20.330422 ms 
--------------------stamp1317358152.440114974
prepare time 11.954685 
sort q time 6.071658 
seperate points time 12.305186 
publication time 9.443780 ms 
filter time 7.284057 ms 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358152.543816089points size 98910 
mapping data assosiation time 27.700096 ms 
sort q time 6.201759 
seperate points time 25.343897 
publication time 6.585215 ms 
whole laserOdometry time 6.596229 ms 
 
mapping data assosiation time 23.409024 ms 
mapping solver time 20.148815 ms 
filter time 10.946298 ms 
sort q time 5.702195 
seperate points time 13.032145 
scan registration time 32.012021 ms *************
publication time 12.686917 ms 
whole laserOdometry time 12.703218 ms 
 
-----t: 0.0476558
OdomCount 3760 & avg odom time 0.045382 ms ++++++++++++++++++++++
mapping data assosiation time 26.029681 ms 
mapping solver time 24.924293 ms 
prepare time 10.896246 
sort q time 7.047435 
seperate points time 13.013227 
publication time 7.785279 ms 
whole laserOdometry time 7.799866 ms 
 
-----t: 0.0489218
OdomCount 3761 & avg odom time 0.045383 ms ++++++++++++++++++++++
map prepare time 2.730871 ms
map corner num 110243  surf num 41054 
build tree time 22.912916 ms 
--------------------stamp1317358152.854804992
prepare time 12.523040 
sort q time 5.001685 
seperate points time 11.969024 
publication time 8.801447 ms 
whole laserOdometry time 8.817067 ms 
 
mapping solver time 28.333265 ms 
mapping data assosiation time 20.182897 ms 
mapping solver time 19.295590 ms 
--------------------stamp1317358152.958482027
filter time 7.364543 ms 
sort q time 5.490139 
seperate points time 11.394454 
build tree time 29.294557 ms 
mapping data assosiation time 23.354139 ms 
mapping solver time 23.380766 ms 
--------------------stamp1317358153.062161922
prepare time 11.402959 
sort q time 5.691935 
seperate points time 13.128037 
filter time 10.355022 ms 
[0m[ INFO] [1718890236.009239501, 1317358153.102706075]: Received 152917 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890236.009287396, 1317358153.102706075]: Data saved to 1317358152854804.pcd[0m
mapping pub time 6.573014 ms 
whole mapping time 147.843034 ms +++++
mappingCount 2491 & avg mapping time 152.701170 ms ++++++++++++++++++++++
1317358152.854804993 WriteOdom aft_mapped_to_init
-----t: 0.0416959
OdomCount 3764 & avg odom time 0.045376 ms ++++++++++++++++++++++
1317358153.062161922 WriteOdom laser_odom_to_init
1317358153.062161922 WriteOdom aft_mapped_to_init_high_frec
publication time 8.366538 ms 
whole laserOdometry time 8.373298 ms 
 
build tree time 24.171220 ms 
--------------------stamp1317358153.165863037
prepare time 12.344661 
mapping solver time 22.855491 ms 
sort q time 4.795454 
seperate points time 24.309671 
mapping data assosiation time 27.065817 ms 
-----t: 0.0478292
OdomCount 3765 & avg odom time 0.045377 ms ++++++++++++++++++++++
mapping solver time 23.519818 ms 
filter time 8.270623 ms 
--------------------stamp1317358153.269589900
prepare time 10.287024 
sort q time 4.998404 
seperate points time 10.229247 
publication time 11.360738 ms 
whole laserOdometry time 11.378401 ms 
 
-----t: 0.050867
OdomCount 3766 & avg odom time 0.045378 ms ++++++++++++++++++++++
mapping data assosiation time 21.136112 ms 
--------------------stamp1317358153.373342037
filter time 7.795933 ms 
publication time 8.314751 ms 
whole laserOdometry time 8.330530 ms 
 
build tree time 29.015412 ms 
-----t: 0.0461271
OdomCount 3767 & avg odom time 0.045378 ms ++++++++++++++++++++++
1317358153.373342037 WriteOdom laser_odom_to_init
1317358153.373342037 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.105915 ms 
mapping solver time 25.583931 ms 
points size 83004 
sort q time 4.428629 
seperate points time 10.513440 
publication time 7.572497 ms 
whole laserOdometry time 7.584852 ms 
 
mapping solver time 25.213759 ms 
filter time 7.432667 ms 
build tree time 25.105739 ms 
points size 81814 
sort q time 4.716906 
seperate points time 10.432855 
publication time 8.409290 ms 
whole laserOdometry time 8.428096 ms 
 
mapping data assosiation time 22.076186 ms 
mapping solver time 16.111486 ms 
filter time 7.589089 ms 
points size 81732 
sort q time 4.925492 
seperate points time 10.603047 
publication time 8.812884 ms 
whole laserOdometry time 8.824508 ms 
 
mapping data assosiation time 25.394679 ms 
mapping data assosiation time 19.478980 ms 
mapping solver time 14.097064 ms 
[0m[ INFO] [1718890236.694822512, 1317358153.789747606]: Received 115346 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890236.694875365, 1317358153.789747606]: Data saved to 1317358153580817.pcd[0m
scan registration time 23.457559 ms *************
build tree time 22.804725 ms 
-----t: 0.0341551
OdomCount 3771 & avg odom time 0.045368 ms ++++++++++++++++++++++
mapping data assosiation time 26.432787 ms 
mapping solver time 25.641124 ms 
--------------------stamp1317358153.892132997
mapping data assosiation time 27.025246 ms 
publication time 7.789673 ms 
whole laserOdometry time 7.800449 ms 
 
mapping solver time 26.341285 ms 
mapping optimization time 129.650979 
add points time 0.812097 ms
map prepare time 3.028652 ms
map corner num 84064  surf num 32196 
-----t: 0.0563942
OdomCount 3772 & avg odom time 0.045371 ms ++++++++++++++++++++++
1317358153.892132997 WriteOdom laser_odom_to_init
1317358153.892132997 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358153.995944976
sort q time 4.832728 
seperate points time 10.702496 
scan registration time 21.764194 ms *************
mapping solver time 25.900148 ms 
publication time 8.664864 ms 
whole laserOdometry time 8.672855 ms 
 
-----t: 0.0390475
OdomCount 3773 & avg odom time 0.045369 ms ++++++++++++++++++++++
1317358153.995944976 WriteOdom laser_odom_to_init
1317358153.995944976 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.711256 ms 
mapping optimization time 123.262485 
add points time 0.839053 ms
map prepare time 2.368317 ms
map corner num 84752  surf num 32397 
--------------------stamp1317358154.099766969
build tree time 21.683968 ms 
scan registration time 21.346312 ms *************
mapping data assosiation time 25.939455 ms 
-----t: 0.0525894
OdomCount 3774 & avg odom time 0.045371 ms ++++++++++++++++++++++
mapping data assosiation time 21.217489 ms 
points size 91903 
filter time 7.879628 ms 
publication time 8.258952 ms 
whole laserOdometry time 8.292243 ms 
 
build tree time 22.535641 ms 
mapping data assosiation time 20.874132 ms 
mapping solver time 19.009352 ms 
--------------------stamp1317358154.307436943
mapping data assosiation time 22.554466 ms 
sort q time 5.700628 
seperate points time 11.132085 
filter time 6.540218 ms 
build tree time 19.306836 ms 
mapping solver time 19.873070 ms 
points size 97204 
sort q time 5.261755 
seperate points time 12.824585 
publication time 9.659144 ms 
whole laserOdometry time 9.674252 ms 
 
filter time 8.220539 ms 
--------------------stamp1317358154.515091896
points size 96132 
sort q time 6.237078 
seperate points time 14.810436 
publication time 8.745707 ms 
whole laserOdometry time 8.754258 ms 
 
mapping pub time 110.075851 ms 
whole mapping time 232.305460 ms +++++
mappingCount 2501 & avg mapping time 152.667520 ms ++++++++++++++++++++++
build tree time 23.775426 ms 
--------------------stamp1317358154.618902921
mapping data assosiation time 27.259487 ms 
publication time 12.259810 ms 
whole laserOdometry time 12.277625 ms 
 
mapping data assosiation time 26.904259 ms 
mapping solver time 22.236757 ms 
mapping pub time 2.215616 ms 
whole mapping time 146.398876 ms +++++
mappingCount 2502 & avg mapping time 152.665016 ms ++++++++++++++++++++++
sort q time 5.529054 
seperate points time 11.561197 
publication time 9.219625 ms 
mapping data assosiation time 24.596356 ms 
mapping solver time 22.789753 ms 
--------------------stamp1317358154.826571941
mapping solver time 22.293296 ms 
sort q time 4.976724 
seperate points time 11.862299 
mapping pub time 2.321339 ms 
whole mapping time 130.072369 ms +++++
mappingCount 2503 & avg mapping time 152.655992 ms ++++++++++++++++++++++
publication time 9.240016 ms 
whole laserOdometry time 9.260159 ms 
 
build tree time 21.359783 ms 
mapping data assosiation time 22.177115 ms 
--------------------stamp1317358154.930418968
sort q time 5.446221 
seperate points time 10.617757 
mapping data assosiation time 24.101442 ms 
publication time 9.820610 ms 
whole laserOdometry time 9.841213 ms 
 
add points time 0.780853 ms
mapping pub time 2.139809 ms 
whole mapping time 122.583270 ms +++++
mappingCount 2504 & avg mapping time 152.643984 ms ++++++++++++++++++++++
build tree time 18.171229 ms 
mapping data assosiation time 21.663168 ms 
mapping solver time 19.956740 ms 
publication time 8.479166 ms 
whole laserOdometry time 8.494055 ms 
 
mapping solver time 18.313379 ms 
mapping pub time 1.907076 ms 
whole mapping time 114.058130 ms +++++
mappingCount 2505 & avg mapping time 152.628581 ms ++++++++++++++++++++++
build tree time 16.903224 ms 
--------------------stamp1317358155.138137102
mapping data assosiation time 23.449717 ms 
mapping solver time 20.301846 ms 
mapping data assosiation time 22.727043 ms 
mapping solver time 14.643821 ms 
[0m[ INFO] [1718890238.116164647, 1317358155.218452173]: Received 124977 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890238.116217831, 1317358155.218452173]: Data saved to 1317358155034266.pcd[0m
--------------------stamp1317358155.242032051
sort q time 4.652179 
seperate points time 9.057361 
publication time 6.718854 ms 
whole laserOdometry time 6.732698 ms 
 
-----t: 0.0339048
OdomCount 3785 & avg odom time 0.045347 ms ++++++++++++++++++++++
mapping data assosiation time 20.074153 ms 
mapping solver time 16.989986 ms 
mapping pub time 1.818391 ms 
whole mapping time 122.015015 ms +++++
mappingCount 2507 & avg mapping time 152.600285 ms ++++++++++++++++++++++
points size 73149 
sort q time 3.984422 
seperate points time 9.684833 
publication time 7.579284 ms 
whole laserOdometry time 7.593909 ms 
 
mapping data assosiation time 23.512121 ms 
mapping solver time 18.716383 ms 
mapping data assosiation time 20.120692 ms 
--------------------stamp1317358155.449843883
filter time 9.192604 ms 
publication time 7.086899 ms 
whole laserOdometry time 7.101177 ms 
 
build tree time 25.127237 ms 
mapping data assosiation time 19.451489 ms 
mapping solver time 16.742091 ms 
--------------------stamp1317358155.553739070
mapping solver time 14.281656 ms 
map prepare time 3.156585 ms
map corner num 92625  surf num 35705 
-----t: 0.033246
OdomCount 3788 & avg odom time 0.045340 ms ++++++++++++++++++++++
1317358155.553739070 WriteOdom laser_odom_to_init
1317358155.553739070 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.094114 ms 
mapping data assosiation time 20.479066 ms 
mapping solver time 16.817532 ms 
--------------------stamp1317358155.657634019
mapping data assosiation time 22.224860 ms 
mapping solver time 21.135249 ms 
mapping pub time 1.790943 ms 
whole mapping time 122.319315 ms +++++
mappingCount 2510 & avg mapping time 152.559079 ms ++++++++++++++++++++++
1317358155.449843884 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.096128 ms
map corner num 93455  surf num 36226 
build tree time 19.255581 ms 
mapping data assosiation time 22.737302 ms 
mapping solver time 18.944662 ms 
points size 77599 
sort q time 4.720345 
seperate points time 18.205229 
1317358155.761528968 WriteOdom aft_mapped_to_init_high_frec
filter time 6.641432 ms 
build tree time 19.063062 ms 
--------------------stamp1317358155.865469932
sort q time 3.854417 
seperate points time 8.370248 
mapping solver time 26.604687 ms 
-----t: 0.0300862
OdomCount 3791 & avg odom time 0.045328 ms ++++++++++++++++++++++
mapping solver time 18.879807 ms 
mapping pub time 1.738703 ms 
whole mapping time 125.707158 ms +++++
mappingCount 2512 & avg mapping time 152.533580 ms ++++++++++++++++++++++
--------------------stamp1317358155.969414949
sort q time 4.654528 
seperate points time 9.248128 
scan registration time 18.465407 ms *************
publication time 7.666192 ms 
whole laserOdometry time 7.677587 ms 
 
mapping solver time 27.215515 ms 
mapping data assosiation time 23.261412 ms 
--------------------stamp1317358156.073334932
sort q time 4.475695 
seperate points time 13.261488 
build tree time 22.569293 ms 
-----t: 0.041673
OdomCount 3793 & avg odom time 0.045322 ms ++++++++++++++++++++++
mapping data assosiation time 28.435000 ms 
mapping solver time 23.300334 ms 
--------------------stamp1317358156.177252054
prepare time 8.437230 
mapping data assosiation time 28.628391 ms 
filter time 6.793075 ms 
-----t: 0.0438053
OdomCount 3794 & avg odom time 0.045322 ms ++++++++++++++++++++++
build tree time 21.751254 ms 
mapping data assosiation time 23.115503 ms 
points size 87872 
sort q time 4.411036 
seperate points time 9.680409 
mapping solver time 35.447624 ms 
mapping data assosiation time 29.472323 ms 
-----t: 0.0572956
OdomCount 3795 & avg odom time 0.045325 ms ++++++++++++++++++++++
1317358156.281172990 WriteOdom laser_odom_to_init
1317358156.281172990 WriteOdom aft_mapped_to_init_high_frec
mapping optimization time 135.560620 
filter time 6.635657 ms 
--------------------stamp1317358156.385114908
sort q time 5.579062 
seperate points time 10.632895 
build tree time 23.472651 ms 
publication time 10.957758 ms 
whole laserOdometry time 11.001793 ms 
 
mapping solver time 28.124254 ms 
mapping data assosiation time 23.432872 ms 
mapping solver time 19.383846 ms 
filter time 9.890393 ms 
map prepare time 3.229251 ms
map corner num 98850  surf num 38940 
1317358156.489058971 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.537012 ms 
mapping data assosiation time 24.659348 ms 
--------------------stamp1317358156.592978954
publication time 10.835471 ms 
whole laserOdometry time 10.887386 ms 
 
mapping solver time 24.297830 ms 
mapping pub time 2.059422 ms 
whole mapping time 146.519710 ms +++++
mappingCount 2517 & avg mapping time 152.514317 ms ++++++++++++++++++++++
--------------------stamp1317358156.696870088
sort q time 5.291890 
seperate points time 11.479343 
mapping data assosiation time 28.153892 ms 
publication time 8.521133 ms 
whole laserOdometry time 8.535152 ms 
 
-----t: 0.0373608
OdomCount 3799 & avg odom time 0.045314 ms ++++++++++++++++++++++
1317358156.696870088 WriteOdom laser_odom_to_init
1317358156.696870088 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.813597 ms 
mapping data assosiation time 27.308377 ms 
--------------------stamp1317358156.800765037
mapping solver time 28.015422 ms 
mapping pub time 2.050543 ms 
whole mapping time 155.292106 ms +++++
mappingCount 2518 & avg mapping time 152.515422 ms ++++++++++++++++++++++
-----t: 0.0348276
OdomCount 3800 & avg odom time 0.045312 ms ++++++++++++++++++++++
build tree time 23.441730 ms 
mapping data assosiation time 25.087173 ms 
--------------------stamp1317358156.904685020
prepare time 11.237521 
sort q time 6.240628 
seperate points time 14.511490 
publication time 8.160592 ms 
whole laserOdometry time 8.193702 ms 
 
1317358156.904685020 WriteOdom laser_odom_to_init
1317358156.904685020 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.497920 ms 
filter time 6.797259 ms 
--------------------stamp1317358157.008578062
prepare time 10.129811 
sort q time 5.219026 
seperate points time 12.175015 
scan registration time 27.113608 ms *************
mapping data assosiation time 32.137934 ms 
-----t: 0.0385902
OdomCount 3802 & avg odom time 0.045308 ms ++++++++++++++++++++++
mapping solver time 26.525667 ms 
mapping data assosiation time 26.932375 ms 
points size 96211 
mapping solver time 23.987046 ms 
filter time 10.097418 ms 
publication time 12.267945 ms 
whole laserOdometry time 12.288746 ms 
 
build tree time 26.680227 ms 
-----t: 0.065151
OdomCount 3803 & avg odom time 0.045314 ms ++++++++++++++++++++++
1317358157.112449884 WriteOdom laser_odom_to_init
1317358157.112449884 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.943931 ms 
points size 94132 
prepare time 10.584085 
publication time 7.938166 ms 
whole laserOdometry time 7.951701 ms 
 
mapping data assosiation time 33.567514 ms 
mapping solver time 26.739563 ms 
filter time 7.088067 ms 
points size 93550 
sort q time 5.502415 
seperate points time 12.178630 
-----t: 0.0408235
OdomCount 3805 & avg odom time 0.045314 ms ++++++++++++++++++++++
mapping pub time 109.449559 ms 
whole mapping time 269.627947 ms +++++
mappingCount 2521 & avg mapping time 152.561937 ms ++++++++++++++++++++++
points size 93900 
prepare time 10.941197 
publication time 13.591817 ms 
whole laserOdometry time 13.601716 ms 
 
-----t: 0.0343982
OdomCount 3806 & avg odom time 0.045311 ms ++++++++++++++++++++++
1317358157.423990011 WriteOdom laser_odom_to_init
1317358157.423990011 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.288571 ms 
--------------------stamp1317358157.527837038
mapping data assosiation time 32.183317 ms 
publication time 9.600608 ms 
whole laserOdometry time 9.612846 ms 
 
1317358157.527837038 WriteOdom laser_odom_to_init
1317358157.527837038 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 2.152232 ms 
whole mapping time 170.322981 ms +++++
mappingCount 2522 & avg mapping time 152.568980 ms ++++++++++++++++++++++
build tree time 22.806527 ms 
--------------------stamp1317358157.631680965
mapping data assosiation time 33.598302 ms 
publication time 9.390700 ms 
whole laserOdometry time 9.404596 ms 
 
mapping solver time 36.564513 ms 
mapping data assosiation time 26.622045 ms 
--------------------stamp1317358157.735505104
filter time 8.727951 ms 
mapping pub time 2.162966 ms 
whole mapping time 160.870689 ms +++++
mappingCount 2523 & avg mapping time 152.572273 ms ++++++++++++++++++++++
1317358157.423990011 WriteOdom aft_mapped_to_init
publication time 8.238778 ms 
whole laserOdometry time 8.255377 ms 
 
build tree time 27.242869 ms 
-----t: 0.0565652
OdomCount 3809 & avg odom time 0.045308 ms ++++++++++++++++++++++
mapping data assosiation time 28.476256 ms 
--------------------stamp1317358157.839306116
sort q time 5.085160 
seperate points time 11.478600 
publication time 6.201697 ms 
whole laserOdometry time 6.218484 ms 
 
-----t: 0.0360162
OdomCount 3810 & avg odom time 0.045306 ms ++++++++++++++++++++++
mapping solver time 25.068313 ms 
mapping optimization time 143.614174 
add points time 0.968357 ms
map prepare time 2.538529 ms
map corner num 105940  surf num 41954 
build tree time 22.033115 ms 
sort q time 5.025878 
seperate points time 11.109444 
scan registration time 22.583926 ms *************
mapping data assosiation time 28.735745 ms 
publication time 8.184752 ms 
whole laserOdometry time 8.200555 ms 
 
mapping solver time 34.285262 ms 
mapping data assosiation time 25.873758 ms 
--------------------stamp1317358158.046902894
mapping optimization time 137.935044 
filter time 9.892640 ms 
publication time 8.423882 ms 
whole laserOdometry time 8.442914 ms 
 
build tree time 26.569313 ms 
-----t: 0.0464916
OdomCount 3812 & avg odom time 0.045302 ms ++++++++++++++++++++++
1317358158.046902894 WriteOdom laser_odom_to_init
1317358158.046902894 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.455573 ms 
--------------------stamp1317358158.150677919
sort q time 4.977316 
seperate points time 10.128880 
publication time 7.472026 ms 
whole laserOdometry time 7.485458 ms 
 
-----t: 0.044511
OdomCount 3813 & avg odom time 0.045302 ms ++++++++++++++++++++++
mapping solver time 26.703051 ms 
filter time 7.386306 ms 
map prepare time 2.602455 ms
map corner num 107688  surf num 42650 
--------------------stamp1317358158.254427909
points size 95147 
prepare time 11.498574 
mapping data assosiation time 29.900787 ms 
-----t: 0.0390811
OdomCount 3814 & avg odom time 0.045300 ms ++++++++++++++++++++++
mapping data assosiation time 23.894455 ms 
--------------------stamp1317358158.358177900
prepare time 12.974126 
filter time 10.642398 ms 
publication time 6.394811 ms 
whole laserOdometry time 6.406558 ms 
 
-----t: 0.0427745
OdomCount 3815 & avg odom time 0.045299 ms ++++++++++++++++++++++
mapping data assosiation time 28.551608 ms 
--------------------stamp1317358158.461930036
sort q time 5.650987 
seperate points time 12.270224 
mapping solver time 23.336010 ms 
filter time 7.349366 ms 
--------------------stamp1317358158.565656900
prepare time 11.375990 
sort q time 5.693499 
seperate points time 13.353782 
mapping data assosiation time 30.817444 ms mapping solver time 33.095236 ms 
--------------------stamp1317358158.669382095
prepare time 12.992495 
sort q time 5.435440 
seperate points time 12.261381 
mapping solver time 30.899637 ms 
publication time 8.315621 ms 
whole laserOdometry time 8.329062 ms 
 
build tree time 21.735125 ms 
mapping data assosiation time 25.211490 ms 
points size 97492 
sort q time 5.625504 
seperate points time 12.564205 
publication time 7.867200 ms 
whole laserOdometry time 7.883700 ms 
 
mapping data assosiation time 27.692373 ms 
mapping solver time 25.819370 ms 
mapping optimization time 138.128621 
add points time 0.950123 ms
map prepare time 3.381668 ms
map corner num 110637  surf num 43645 
prepare time 12.623271 
sort q time 5.319272 
seperate points time 13.789297 
publication time 12.833284 ms 
whole laserOdometry time 12.847690 ms 
 
mapping data assosiation time 29.147613 ms 
mapping solver time 24.119120 ms 
--------------------stamp1317358158.980685949
prepare time 11.032695 
scan registration time 27.911551 ms *************
publication time 8.207275 ms 
whole laserOdometry time 8.223651 ms 
 
mapping solver time 28.725691 ms 
filter time 7.831164 ms 
map prepare time 3.610155 ms
map corner num 111472  surf num 43978 
build tree time 30.041304 ms 
--------------------stamp1317358159.084484100
prepare time 12.370907 
sort q time 5.317854 
seperate points time 12.284268 
publication time 9.243855 ms 
whole laserOdometry time 9.273239 ms 
 
-----t: 0.0488362
OdomCount 3822 & avg odom time 0.045289 ms ++++++++++++++++++++++
mapping data assosiation time 27.222276 ms 
mapping solver time 17.464340 ms 
filter time 9.472701 ms 
scan registration time 22.337828 ms *************
publication time 9.638050 ms 
whole laserOdometry time 9.655136 ms 
 
-----t: 0.0352914
OdomCount 3823 & avg odom time 0.045287 ms ++++++++++++++++++++++
mapping data assosiation time 26.732609 ms 
mapping solver time 23.247078 ms 
--------------------stamp1317358159.292079925
mapping data assosiation time 27.279866 ms 
mapping solver time 22.175388 ms 
filter time 10.275372 ms 
mapping pub time 2.136993 ms 
whole mapping time 146.049652 ms +++++
mappingCount 2533 & avg mapping time 152.587255 ms ++++++++++++++++++++++
1317358159.084484100 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 24.975939 ms 
--------------------stamp1317358159.395878076
sort q time 4.907203 
seperate points time 10.044610 
scan registration time 21.042226 ms *************
publication time 8.668374 ms 
whole laserOdometry time 8.699752 ms 
 
mapping data assosiation time 26.613858 ms 
mapping solver time 22.488607 ms 
mapping optimization time 133.742562 
add points time 0.998155 ms
map prepare time 2.846232 ms
map corner num 113876  surf num 45034 
sort q time 5.188396 
seperate points time 10.141579 
build tree time 31.251187 ms 
-----t: 0.0322276
OdomCount 3826 & avg odom time 0.045278 ms ++++++++++++++++++++++
mapping data assosiation time 28.406275 ms 
mapping solver time 22.909946 ms 
--------------------stamp1317358159.603473901
sort q time 4.364331 
seperate points time 9.827510 
scan registration time 19.902013 ms *************
-----t: 0.0295799
OdomCount 3827 & avg odom time 0.045274 ms ++++++++++++++++++++++
1317358159.603473901 WriteOdom laser_odom_to_init
1317358159.603473901 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.661188 ms
map corner num 114815  surf num 45429 
build tree time 25.007226 ms 
--------------------stamp1317358159.707268953
sort q time 4.577400 
seperate points time 10.880448 
publication time 8.044307 ms 
whole laserOdometry time 8.058585 ms 
 
mapping data assosiation time 27.154775 ms 
mapping solver time 22.598336 ms 
filter time 8.187018 ms 
--------------------stamp1317358159.811115026
points size 87019 
sort q time 4.881617 
seperate points time 11.593852 
scan registration time 23.692778 ms *************
build tree time 32.279470 ms 
-----t: 0.0328208
OdomCount 3829 & avg odom time 0.045266 ms ++++++++++++++++++++++
mapping data assosiation time 28.836252 ms 
mapping solver time 22.453762 ms 
--------------------stamp1317358159.914966106
sort q time 5.204556 
seperate points time 10.955406 
filter time 12.397046 ms 
-----t: 0.0395787
OdomCount 3830 & avg odom time 0.045265 ms ++++++++++++++++++++++
build tree time 26.458808 ms 
mapping data assosiation time 27.414054 ms 
points size 89652 
scan registration time 23.286665 ms *************
publication time 8.294250 ms 
whole laserOdometry time 8.322302 ms 
 
mapping data assosiation time 31.472059 ms 
-----t: 0.0482843
OdomCount 3831 & avg odom time 0.045265 ms ++++++++++++++++++++++
1317358160.018812894 WriteOdom laser_odom_to_init
1317358160.018812894 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.102858 ms 
filter time 7.781011 ms 
points size 91402 
sort q time 5.155600 
seperate points time 11.596172 
build tree time 31.061242 ms 
-----t: 0.0470998
OdomCount 3832 & avg odom time 0.045266 ms ++++++++++++++++++++++
--------------------stamp1317358160.226577997
sort q time 5.491405 
seperate points time 11.992566 
publication time 8.231299 ms 
whole laserOdometry time 8.244470 ms 
 
filter time 10.823274 ms 
build tree time 26.004244 ms 
--------------------stamp1317358160.330472946
scan registration time 25.254480 ms *************
publication time 9.998365 ms 
whole laserOdometry time 10.016682 ms 
 
1317358160.330472946 WriteOdom laser_odom_to_init
mapping data assosiation time 39.325310 ms 
points size 92457 
prepare time 10.957468 
mapping solver time 35.397875 ms 
filter time 8.795017 ms 
build tree time 28.509308 ms 
--------------------stamp1317358160.538219928
sort q time 5.050874 
seperate points time 12.187642 
scan registration time 27.751070 ms *************
mapping solver time 30.720533 ms 
1317358160.538219928 WriteOdom laser_odom_to_init
mapping data assosiation time 30.453593 ms 
mapping solver time 19.836530 ms 
filter time 10.377833 ms 
points size 94054 
sort q time 5.675481 
seperate points time 13.023075 
publication time 7.390071 ms 
whole laserOdometry time 7.401582 ms 
 
-----t: 0.0483342
OdomCount 3837 & avg odom time 0.045261 ms ++++++++++++++++++++++
--------------------stamp1317358160.745910882
points size 93853 
sort q time 5.312150 
seperate points time 13.184019 
build tree time 32.678265 ms 
1317358160.745910882 WriteOdom laser_odom_to_init
1317358160.745910882 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.909981 ms 
--------------------stamp1317358160.849757909
points size 93621 
sort q time 5.284700 
seperate points time 13.498602 
publication time 8.719609 ms 
whole laserOdometry time 8.732065 ms 
 
filter time 8.227246 ms 
build tree time 19.043547 ms 
--------------------stamp1317358160.953582048
mapping data assosiation time 30.558360 ms 
publication time 8.275934 ms 
whole laserOdometry time 8.287495 ms 
 
mapping solver time 37.490319 ms 
-----t: 0.0563473
OdomCount 3840 & avg odom time 0.045262 ms ++++++++++++++++++++++
mapping data assosiation time 32.171556 ms 
--------------------stamp1317358161.057427883
mapping solver time 36.206695 ms 
sort q time 6.208305 
seperate points time 12.368997 
mapping optimization time 157.470400 
add points time 1.616870 ms
scan registration time 30.291087 ms *************
map prepare time 4.032938 ms1317358161.057427883 WriteOdom laser_odom_to_init
mapping data assosiation time 27.077326 ms 
points size 95280 
sort q time 5.910931 
seperate points time 13.391229 
mapping solver time 42.020066 ms 
publication time 11.249769 ms 
whole laserOdometry time 11.271077 ms 
 
mapping data assosiation time 31.063639 ms 
mapping solver time 25.596391 ms 
filter time 9.254469 ms 
sort q time 5.390247 
seperate points time 12.857028 
-----t: 0.032745
OdomCount 3843 & avg odom time 0.045256 ms ++++++++++++++++++++++
1317358161.265094041 WriteOdom laser_odom_to_init
1317358161.265094041 WriteOdom aft_mapped_to_init_high_frec
publication time 8.024375 ms 
whole laserOdometry time 8.038957 ms 
 
mapping solver time 31.003701 ms 
--------------------stamp1317358161.368918895
mapping data assosiation time 31.423314 ms 
publication time 8.741207 ms 
whole laserOdometry time 8.755460 ms 
 
mapping solver time 32.864763 ms 
mapping optimization time 145.946639 
add points time 1.091698 ms
map prepare time 2.806187 ms
map corner num 83251  surf num 35752 
build tree time 18.362721 ms 
--------------------stamp1317358161.472740888
prepare time 10.888596 
sort q time 5.777626 
seperate points time 13.309618 
mapping solver time 30.995157 ms 
mapping data assosiation time 28.942228 ms 
mapping solver time 25.450988 ms 
[0m[ INFO] [1718890244.481877199, 1317358161.579154764]: Received 120339 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890244.481918171, 1317358161.579154764]: Data saved to 1317358161265094.pcd[0m
sort q time 5.688171 
seperate points time 13.387119 
publication time 10.553655 ms 
whole laserOdometry time 10.574153 ms 
 
mapping data assosiation time 31.401630 ms 
mapping solver time 27.094348 ms 
--------------------stamp1317358161.680335998
prepare time 13.730186 
sort q time 5.525536 
seperate points time 13.976879 
mapping solver time 24.382012 ms 
mapping pub time 2.287159 ms 
whole mapping time 153.235968 ms +++++
mappingCount 2547 & avg mapping time 152.675207 ms ++++++++++++++++++++++
build tree time 18.898985 ms 
--------------------stamp1317358161.784136056
points size 98665 
sort q time 6.096419 
seperate points time 13.366335 
mapping solver time 33.106357 ms 
-----t: 0.046022
OdomCount 3848 & avg odom time 0.045250 ms ++++++++++++++++++++++
mapping data assosiation time 32.221128 ms 
--------------------stamp1317358161.887937068
mapping pub time 2.329888 ms 
whole mapping time 160.125886 ms +++++
mappingCount 2548 & avg mapping time 152.678133 ms ++++++++++++++++++++++
scan registration time 28.343472 ms *************
build tree time 22.867060 ms 
-----t: 0.0552784
OdomCount 3849 & avg odom time 0.045252 ms ++++++++++++++++++++++
mapping data assosiation time 37.826702 ms 
--------------------stamp1317358161.991733074
sort q time 6.034883 
seperate points time 11.699088 
publication time 8.267833 ms 
whole laserOdometry time 8.282085 ms 
 
mapping data assosiation time 34.922805 ms 
mapping solver time 29.059239 ms 
filter time 6.443697 ms 
mapping pub time 2.161606 ms 
whole mapping time 168.682647 ms +++++
mappingCount 2549 & avg mapping time 152.684413 ms ++++++++++++++++++++++
1317358161.784136057 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358162.095508098
sort q time 5.710452 
seperate points time 11.396743 
mapping data assosiation time 36.290855 ms 
-----t: 0.0400398
OdomCount 3851 & avg odom time 0.045250 ms ++++++++++++++++++++++
mapping solver time 30.595503 ms 
--------------------stamp1317358162.199284076
sort q time 5.566608 
seperate points time 11.873741 
mapping solver time 25.146308 ms 
mapping optimization time 146.038285 
scan registration time 27.228532 ms *************
add points time 1.738826 ms
map prepare time 3.607376 ms
map corner num 88265  surf num 38514 
build tree time 21.259763 ms 
mapping data assosiation time 29.123434 ms 
points size 94827 
sort q time 5.293422 
seperate points time 11.947244 
-----t: 0.0371238
OdomCount 3853 & avg odom time 0.045246 ms ++++++++++++++++++++++
mapping data assosiation time 34.455056 ms 
mapping solver time 20.112702 ms 
mapping optimization time 138.173017 
add points time 1.206494 ms
map prepare time 2.722712 ms
map corner num 89325  surf num 39095 
points size 95115 
sort q time 5.433974 
seperate points time 12.741810 
publication time 8.532659 ms 
whole laserOdometry time 8.560259 ms 
 
mapping solver time 28.868424 ms 
--------------------stamp1317358162.510730028
mapping data assosiation time 30.972530 ms 
sort q time 5.399692 
seperate points time 11.747826 
scan registration time 24.318593 ms *************
filter time 8.419337 ms 
-----t: 0.0432721
OdomCount 3855 & avg odom time 0.045245 ms ++++++++++++++++++++++
build tree time 22.869855 ms 
--------------------stamp1317358162.614552974
prepare time 12.381368 
sort q time 8.225530 
seperate points time 15.924210 
-----t: 0.0389684
OdomCount 3856 & avg odom time 0.045243 ms ++++++++++++++++++++++
mapping data assosiation time 31.300381 ms 
mapping solver time 21.993812 ms 
1317358162.406907082 WriteOdom aft_mapped_to_init
scan registration time 27.264717 ms *************
publication time 9.095562 ms 
whole laserOdometry time 9.108658 ms 
 
-----t: 0.0393056
OdomCount 3857 & avg odom time 0.045242 ms ++++++++++++++++++++++
1317358162.718400001 WriteOdom laser_odom_to_init
1317358162.718400001 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 30.186579 ms 
points size 89010 
mapping data assosiation time 32.532402 ms 
publication time 8.162885 ms 
whole laserOdometry time 8.189638 ms 
 
mapping solver time 31.644275 ms 
filter time 6.737169 ms 
build tree time 19.230425 ms 
--------------------stamp1317358162.926069021
points size 88843 
sort q time 4.906152 
seperate points time 21.180345 
publication time 7.833597 ms 
whole laserOdometry time 7.844933 ms 
 
mapping data assosiation time 26.264911 ms 
mapping solver time 18.176366 ms 
filter time 9.088269 ms 
sort q time 4.912339 
seperate points time 11.354720 
publication time 8.100273 ms 
whole laserOdometry time 8.116021 ms 
 
mapping data assosiation time 29.354610 ms 
mapping solver time 23.484148 ms 
--------------------stamp1317358163.133713006
points size 90053 
mapping data assosiation time 28.449652 ms 
sort q time 4.874539 
seperate points time 11.380428 
mapping solver time 30.559495 ms 
filter time 6.771055 ms 
build tree time 20.920150 ms 
--------------------stamp1317358163.237559080
sort q time 4.777103 
seperate points time 11.408988 
scan registration time 25.086629 ms *************
-----t: 0.0398569
OdomCount 3862 & avg odom time 0.045231 ms ++++++++++++++++++++++
1317358163.237559080 WriteOdom laser_odom_to_init
1317358163.237559080 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.048230 ms 
map prepare time 3.037046 ms
map corner num 94836  surf num 41328 
sort q time 5.065218 
seperate points time 11.960444 
scan registration time 25.013979 ms *************
build tree time 25.992990 ms 
publication time 10.714789 ms 
whole laserOdometry time 10.738089 ms 
 
-----t: 0.0379959
OdomCount 3863 & avg odom time 0.045229 ms ++++++++++++++++++++++
mapping solver time 28.016014 ms 
--------------------stamp1317358163.445252895
sort q time 4.969455 
seperate points time 10.436294 
mapping solver time 23.887785 ms 
drop lidar frame in mapping for real time performance 
build tree time 23.911134 ms 
--------------------stamp1317358163.549098968
sort q time 5.742081 
seperate points time 11.788912 
scan registration time 22.993600 ms *************
publication time 10.517486 ms 
whole laserOdometry time 10.533681 ms 
 
mapping data assosiation time 30.935650 ms 
mapping solver time 17.666079 ms 
filter time 6.881943 ms 
--------------------stamp1317358163.652924060
points size 88569 
sort q time 5.380956 
seperate points time 11.308364 
publication time 7.842044 ms 
whole laserOdometry time 7.858812 ms 
 
mapping solver time 30.364525 ms 
mapping data assosiation time 24.269902 ms 
points size 88082 
sort q time 4.927927 
seperate points time 11.304275 
publication time 7.198743 ms 
whole laserOdometry time 7.210409 ms 
 
-----t: 0.0442557
OdomCount 3867 & avg odom time 0.045223 ms ++++++++++++++++++++++
mapping data assosiation time 21.671857 ms 
--------------------stamp1317358163.860543966
sort q time 4.618237 
seperate points time 9.873204 
publication time 7.158846 ms 
whole laserOdometry time 7.173909 ms 
 
mapping solver time 25.631028 ms 
mapping optimization time 125.101341 
add points time 0.953532 ms
--------------------stamp1317358163.964344024
sort q time 4.394927 
seperate points time 10.762611 
scan registration time 22.744677 ms *************
-----t: 0.0388784
OdomCount 3869 & avg odom time 0.045217 ms ++++++++++++++++++++++
1317358163.652924061 WriteOdom aft_mapped_to_init
build tree time 22.722959 ms 
points size 81571 
sort q time 5.155555 
seperate points time 9.914505 
mapping data assosiation time 28.400701 ms 
scan registration time 20.189989 ms *************
mapping solver time 30.591227 ms 
mapping data assosiation time 23.953130 ms 
mapping solver time 17.337162 ms 
filter time 6.480096 ms 
prepare time 9.544951 
sort q time 8.173162 
seperate points time 14.164774 
publication time 9.346115 ms 
whole laserOdometry time 9.361079 ms 
 
-----t: 0.0465518
OdomCount 3871 & avg odom time 0.045215 ms ++++++++++++++++++++++
mapping solver time 28.151453 ms 
--------------------stamp1317358164.275716066
sort q time 5.057671 
seperate points time 12.021656 
scan registration time 24.055738 ms *************
publication time 11.585563 ms 
whole laserOdometry time 11.608089 ms 
 
-----t: 0.0461756
OdomCount 3872 & avg odom time 0.045215 ms ++++++++++++++++++++++
1317358164.275716066 WriteOdom laser_odom_to_init
1317358164.275716066 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.138643 ms 
--------------------stamp1317358164.379517078
sort q time 3.974233 
seperate points time 8.916988 
publication time 7.859308 ms 
whole laserOdometry time 7.873139 ms 
 
-----t: 0.033714
OdomCount 3873 & avg odom time 0.045212 ms ++++++++++++++++++++++
mapping solver time 15.523537 ms 
mapping pub time 1.814669 ms 
whole mapping time 132.137234 ms +++++
mappingCount 2564 & avg mapping time 152.704411 ms ++++++++++++++++++++++
build tree time 16.232058 ms 
points size 79907 
sort q time 4.478793 
seperate points time 10.084738 
publication time 7.514658 ms 
whole laserOdometry time 7.532438 ms 
 
mapping solver time 29.610806 ms 
mapping data assosiation time 20.840466 ms 
mapping solver time 15.105700 ms 
mapping pub time 1.826096 ms 
whole mapping time 119.212230 ms +++++
mappingCount 2565 & avg mapping time 152.691355 ms ++++++++++++++++++++++
points size 81661 
prepare time 7.924805 
sort q time 4.967785 
seperate points time 11.379012 
publication time 10.227624 ms 
whole laserOdometry time 10.248451 ms 
 
-----t: 0.0384903
OdomCount 3875 & avg odom time 0.045207 ms ++++++++++++++++++++++
mapping solver time 28.798861 ms 
mapping data assosiation time 21.563475 ms 
prepare time 8.201454 
sort q time 3.992558 
seperate points time 9.056445 
add points time 1.172997 ms
[0m[ INFO] [1718890247.629321603, 1317358164.725507759]: Received 120721 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890247.629377225, 1317358164.725507759]: Data saved to 1317358164483289.pcd[0m
-----t: 0.0497502
OdomCount 3876 & avg odom time 0.045208 ms ++++++++++++++++++++++
mapping data assosiation time 20.978135 ms 
--------------------stamp1317358164.794684886
mapping solver time 26.249267 ms 
publication time 7.818103 ms 
whole laserOdometry time 7.832748 ms 
 
mapping data assosiation time 25.868169 ms 
-----t: 0.0375864
OdomCount 3877 & avg odom time 0.045206 ms ++++++++++++++++++++++
mapping solver time 25.843815 ms 
mapping pub time 1.807588 ms 
whole mapping time 137.008007 ms +++++
mappingCount 2567 & avg mapping time 152.684317 ms ++++++++++++++++++++++
build tree time 19.797393 ms 
prepare time 8.548606 
sort q time 5.684570 
seperate points time 12.106685 
publication time 8.371612 ms 
whole laserOdometry time 8.385841 ms 
 
mapping solver time 30.852070 ms 
mapping data assosiation time 23.726734 ms 
mapping solver time 20.771097 ms 
mapping pub time 2.027750 ms 
whole mapping time 136.295089 ms +++++
mappingCount 2568 & avg mapping time 152.677936 ms ++++++++++++++++++++++
sort q time 5.483148 
seperate points time 11.447530 
build tree time 23.830725 ms 
publication time 15.871738 ms 
whole laserOdometry time 15.889857 ms 
 
-----t: 0.050469
OdomCount 3879 & avg odom time 0.045206 ms ++++++++++++++++++++++
mapping solver time 19.612526 ms 
--------------------stamp1317358165.106105089
sort q time 6.024889 
seperate points time 12.137974 
filter time 9.431892 ms 
-----t: 0.0338702
OdomCount 3880 & avg odom time 0.045203 ms ++++++++++++++++++++++
build tree time 20.987512 ms 
mapping data assosiation time 22.252147 ms 
--------------------stamp1317358165.209902048
sort q time 5.054080 
seperate points time 11.088693 
publication time 9.471942 ms 
whole laserOdometry time 9.486461 ms 
 
filter time 6.160066 ms 
build tree time 17.122753 ms 
--------------------stamp1317358165.313678026
sort q time 5.581450 
seperate points time 10.626749 
mapping solver time 23.073505 ms 
scan registration time 20.436205 ms *************
-----t: 0.0293026
OdomCount 3882 & avg odom time 0.045195 ms ++++++++++++++++++++++
mapping solver time 19.887217 ms 
filter time 6.200113 ms 
map prepare time 2.559328 ms
map corner num 88600  surf num 37487 
build tree time 19.286173 ms 
sort q time 5.169051 
seperate points time 10.577482 
mapping data assosiation time 27.262081 ms 
publication time 10.177067 ms 
whole laserOdometry time 10.192730 ms 
 
1317358165.417476892 WriteOdom laser_odom_to_init
1317358165.417476892 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.690288 ms 
mapping solver time 19.151478 ms 
filter time 9.215728 ms 
sort q time 5.537771 
seperate points time 10.771516 
build tree time 24.322994 ms 
-----t: 0.0401847
OdomCount 3884 & avg odom time 0.045191 ms ++++++++++++++++++++++
mapping solver time 21.143856 ms 
--------------------stamp1317358165.625029087
sort q time 4.922346 
seperate points time 10.139440 
filter time 8.973561 ms 
mapping pub time 2.356616 ms 
whole mapping time 135.211110 ms +++++
mappingCount 2573 & avg mapping time 152.631485 ms ++++++++++++++++++++++
1317358165.417476892 WriteOdom aft_mapped_to_init
-----t: 0.0505485
OdomCount 3885 & avg odom time 0.045193 ms ++++++++++++++++++++++
mapping data assosiation time 23.669141 ms 
points size 89769 
sort q time 12.091561 
seperate points time 20.068072 
-----t: 0.0520927
OdomCount 3886 & avg odom time 0.045195 ms ++++++++++++++++++++++
filter time 7.103826 ms 
--------------------stamp1317358165.832552909
build tree time 22.065198 ms 
points size 91624 
prepare time 10.854976 
sort q time 6.042332 
seperate points time 14.184259 
mapping data assosiation time 27.900981 ms 
publication time 8.474545 ms 
whole laserOdometry time 8.490282 ms 
 
mapping solver time 29.342025 ms 
mapping data assosiation time 20.788902 ms 
--------------------stamp1317358165.936326980
mapping optimization time 125.146660 
filter time 9.450390 ms 
publication time 7.569564 ms mapping data assosiation time 21.757551 ms 
mapping solver time 25.952226 ms 
points size 93373 
mapping data assosiation time 29.746113 ms 
publication time 8.476808 ms 
whole laserOdometry time 8.492627 ms 
 
filter time 6.503194 ms 
build tree time 19.135043 ms 
--------------------stamp1317358166.143878936
mapping data assosiation time 28.058646 ms 
publication time 11.285667 ms 
whole laserOdometry time 11.318131 ms 
 
-----t: 0.0457045
OdomCount 3890 & avg odom time 0.045188 ms ++++++++++++++++++++++
mapping data assosiation time 24.680480 ms 
mapping solver time 22.007006 ms 
mapping pub time 2.133740 ms 
whole mapping time 150.900239 ms +++++
mappingCount 2577 & avg mapping time 152.621159 ms ++++++++++++++++++++++
sort q time 6.246370 
seperate points time 13.016396 
build tree time 27.386414 ms 
1317358166.247678041 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.463191 ms 
mapping solver time 22.049129 ms 
points size 90672 
mapping data assosiation time 30.835863 ms 
mapping solver time 21.930140 ms 
filter time 10.285259 ms 
build tree time 21.449515 ms 
--------------------stamp1317358166.455275058
points size 90612 
sort q time 5.534547 
seperate points time 12.952494 
mapping solver time 36.833800 ms 
-----t: 0.0462458
OdomCount 3893 & avg odom time 0.045187 ms ++++++++++++++++++++++
mapping data assosiation time 30.133156 ms 
mapping solver time 17.444895 ms 
mapping pub time 2.507535 ms 
whole mapping time 148.186573 ms +++++
mappingCount 2579 & avg mapping time 152.618243 ms ++++++++++++++++++++++
prepare time 14.002080 
sort q time 5.366909 
seperate points time 13.071025 
publication time 11.821287 ms 
whole laserOdometry time 11.839552 ms 
 
mapping data assosiation time 30.912850 ms 
-----t: 0.0687076
OdomCount 3894 & avg odom time 0.045193 ms ++++++++++++++++++++++
--------------------stamp1317358166.662873029
sort q time 5.207518 
seperate points time 12.652099 
mapping solver time 22.567327 ms 
drop lidar frame in mapping for real time performance 
map prepare time 3.146912 ms
map corner num 95640  surf num 40457 
build tree time 19.927405 ms 
--------------------stamp1317358166.766671895
prepare time 10.861384 
sort q time 5.340744 
seperate points time 12.462914 
mapping solver time 32.996771 ms 
publication time 10.633496 ms 
whole laserOdometry time 10.650259 ms 
 
mapping data assosiation time 29.907498 ms 
mapping solver time 22.297937 ms 
filter time 6.749546 ms 
points size 93645 
prepare time 12.895223 
publication time 9.332217 ms 
whole laserOdometry time 9.347569 ms 
 
--------------------stamp1317358166.974363088
sort q time 5.645950 
seperate points time 11.999307 
publication time 10.622271 ms 
whole laserOdometry time 10.651945 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
build tree time 21.854456 ms 
--------------------stamp1317358167.078211069
sort q time 5.762619 
seperate points time 13.421952 
mapping solver time 34.925249 ms 
mapping data assosiation time 27.050609 ms 
mapping solver time 23.093707 ms 
filter time 9.194761 ms 
mapping pub time 2.229120 ms 
whole mapping time 151.570980 ms +++++
mappingCount 2582 & avg mapping time 152.680245 ms ++++++++++++++++++++++
1317358166.766671896 WriteOdom aft_mapped_to_init
sort q time 5.791882 
seperate points time 13.760132 
build tree time 26.966231 ms 
-----t: 0.0396675
OdomCount 3900 & avg odom time 0.045185 ms ++++++++++++++++++++++
mapping data assosiation time 28.495721 ms 
mapping solver time 25.857115 ms 
points size 93689 
mapping data assosiation time 31.150592 ms 
-----t: 0.0363655
OdomCount 3901 & avg odom time 0.045182 ms ++++++++++++++++++++++
filter time 6.548589 ms 
build tree time 20.732044 ms 
--------------------stamp1317358167.389703035
prepare time 10.163921 
sort q time 6.432292 
seperate points time 12.361911 
scan registration time 28.648346 ms *************
mapping solver time 30.756664 ms 
-----t: 0.041187
OdomCount 3902 & avg odom time 0.045181 ms ++++++++++++++++++++++
mapping data assosiation time 27.651022 ms 
mapping solver time 16.021194 ms 
filter time 8.835456 ms 
points size 92617 
build tree time 21.781020 ms 
publication time 10.038531 ms 
whole laserOdometry time 10.055899 ms 
 
mapping data assosiation time 30.168565 ms 
mapping solver time 22.545234 ms 
--------------------stamp1317358167.597373008
prepare time 9.916909 
sort q time 5.925363 
seperate points time 12.093508 
points size 88164 
prepare time 12.119157 
mapping solver time 26.239378 ms 
scan registration time 30.897109 ms *************
-----t: 0.0312272
OdomCount 3905 & avg odom time 0.045177 ms ++++++++++++++++++++++
mapping solver time 17.435544 ms 
filter time 6.856365 ms 
map prepare time 3.329951 ms
map corner num 100424  surf num 42601 
--------------------stamp1317358167.805067062
sort q time 4.950052 
seperate points time 11.868556 
publication time 8.739244 ms 
whole laserOdometry time 8.748843 ms 
 
-----t: 0.0379541
OdomCount 3906 & avg odom time 0.045175 ms ++++++++++++++++++++++
mapping solver time 31.619162 ms 
mapping data assosiation time 24.780838 ms 
--------------------stamp1317358167.908937931
prepare time 9.955005 
filter time 10.382754 ms 
scan registration time 24.477515 ms *************
mapping pub time 2.340481 ms 
whole mapping time 154.826985 ms +++++
mappingCount 2587 & avg mapping time 152.667007 ms ++++++++++++++++++++++
1317358167.597373009 WriteOdom aft_mapped_to_init
-----t: 0.0353951
OdomCount 3907 & avg odom time 0.045173 ms ++++++++++++++++++++++
mapping data assosiation time 22.591618 ms 
--------------------stamp1317358168.012833118
prepare time 11.523516 
sort q time 6.181101 
seperate points time 14.611581 
1317358168.012833118 WriteOdom laser_odom_to_init
mapping optimization time 130.811453 
drop lidar frame in mapping for real time performance 
build tree time 18.247740 ms 
--------------------stamp1317358168.116703033
mapping data assosiation time 26.264296 ms 
publication time 8.716611 ms 
whole laserOdometry time 8.730041 ms 
 
mapping solver time 33.801152 ms 
mapping data assosiation time 27.752729 ms 
mapping solver time 17.680833 ms 
filter time 5.770581 ms 
points size 83142 
sort q time 4.702738 
seperate points time 10.900163 
scan registration time 22.748014 ms *************
build tree time 19.718340 ms 
-----t: 0.0351576
OdomCount 3910 & avg odom time 0.045166 ms ++++++++++++++++++++++
mapping solver time 25.409366 ms 
--------------------stamp1317358168.324443101
sort q time 4.487972 
seperate points time 10.062413 
publication time 8.041948 ms 
whole laserOdometry time 8.056895 ms 
 
build tree time 16.758659 ms 
mapping data assosiation time 23.387438 ms 
--------------------stamp1317358168.428316116
sort q time 4.475260 
seperate points time 10.021123 
mapping data assosiation time 30.575316 ms 
-----t: 0.0306142
OdomCount 3912 & avg odom time 0.045158 ms ++++++++++++++++++++++
mapping solver time 26.912229 ms 
[0m[ INFO] [1718890251.398688935, 1317358168.498467964]: Received 118006 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890251.398727396, 1317358168.498467964]: Data saved to 1317358168220571.pcd[0m
build tree time 17.523427 ms 
points size 74060 
sort q time 4.062306 
seperate points time 9.804596 
mapping data assosiation time 28.473422 ms 
scan registration time 20.194982 ms *************
publication time 9.861418 ms 
whole laserOdometry time 9.885307 ms 
 
mapping solver time 33.377244 ms 
mapping data assosiation time 25.265994 ms 
mapping solver time 22.610595 ms 
filter time 8.600377 ms 
mapping pub time 1.974079 ms 
whole mapping time 144.975720 ms +++++
mappingCount 2592 & avg mapping time 152.642604 ms ++++++++++++++++++++++
1317358168.428316116 WriteOdom aft_mapped_to_init
build tree time 22.513823 ms 
mapping data assosiation time 32.088096 ms 
--------------------stamp1317358168.739815950
sort q time 4.881521 
seperate points time 9.142793 
scan registration time 17.940624 ms *************
mapping data assosiation time 28.734065 ms 
-----t: 0.0300551
OdomCount 3915 & avg odom time 0.045151 ms ++++++++++++++++++++++
mapping pub time 1.820179 ms 
whole mapping time 144.008158 ms +++++
mappingCount 2593 & avg mapping time 152.639276 ms ++++++++++++++++++++++
1317358168.532162905 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.773033 ms
map corner num 84020  surf num 36660 
build tree time 20.982235 ms 
--------------------stamp1317358168.843661069
publication time 8.560572 ms 
whole laserOdometry time 8.573065 ms 
 
-----t: 0.0361501
OdomCount 3916 & avg odom time 0.045149 ms ++++++++++++++++++++++
mapping data assosiation time 26.786822 ms 
mapping solver time 17.099271 ms 
mapping optimization time 133.002776 
add points time 0.994003 ms
filter time 6.261841 ms 
points size 82385 
sort q time 4.968904 
seperate points time 10.946206 
-----t: 0.0253762
OdomCount 3917 & avg odom time 0.045144 ms ++++++++++++++++++++++
1317358168.947520017 WriteOdom laser_odom_to_init
1317358168.947520017 WriteOdom aft_mapped_to_init_high_frec
publication time 9.721323 ms 
whole laserOdometry time 9.730236 ms 
 
mapping data assosiation time 29.328646 ms 
mapping solver time 28.153860 ms 
mapping data assosiation time 26.625568 ms 
sort q time 4.665804 
seperate points time 11.331104 
filter time 8.306846 ms 
-----t: 0.0318321
OdomCount 3918 & avg odom time 0.045141 ms ++++++++++++++++++++++
build tree time 21.123327 ms 
mapping data assosiation time 24.288628 ms 
--------------------stamp1317358169.155262947
sort q time 4.948895 
seperate points time 11.224567 
scan registration time 22.740416 ms *************
publication time 17.645034 ms 
whole laserOdometry time 17.660234 ms 
 
mapping solver time 26.559910 ms 
mapping optimization time 131.126667 
add points time 0.940846 ms
map prepare time 2.456886 ms
map corner num 86699  surf num 37642 
build tree time 19.627895 ms 
sort q time 5.158461 
seperate points time 12.325634 
publication time 9.120745 ms 
whole laserOdometry time 9.132383 ms 
 
mapping solver time 28.996321 ms 
mapping data assosiation time 24.315922 ms 
--------------------stamp1317358169.363006114
points size 97720 
map prepare time 3.330076 ms
map corner num 87409  surf num 37911 
scan registration time 33.201023 ms *************
build tree time 24.416969 ms 
1317358169.363006114 WriteOdom laser_odom_to_init
mapping data assosiation time 29.579760 ms 
mapping solver time 24.069196 ms 
points size 98954 
sort q time 5.721268 
seperate points time 13.359017 
publication time 10.331659 ms 
whole laserOdometry time 10.346857 ms 
 
mapping pub time 2.221027 ms 
whole mapping time 152.692348 ms +++++
mappingCount 2598 & avg mapping time 152.625464 ms ++++++++++++++++++++++
1317358169.259135962 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.539495 ms
map corner num 88123  surf num 38219 
build tree time 18.847715 ms 
--------------------stamp1317358169.570702075
prepare time 11.325891 
sort q time 6.013011 
seperate points time 14.966467 
scan registration time 31.997741 ms *************
publication time 10.163651 ms 
whole laserOdometry time 10.179496 ms 
 
mapping data assosiation time 32.781613 ms 
mapping solver time 19.671695 ms 
mapping pub time 2.304162 ms 
whole mapping time 143.383024 ms +++++
mappingCount 2599 & avg mapping time 152.621909 ms ++++++++++++++++++++++
sort q time 5.760352 
seperate points time 11.943129 
publication time 8.026333 ms 
whole laserOdometry time 8.044990 ms 
 
-----t: 0.04683
OdomCount 3924 & avg odom time 0.045135 ms ++++++++++++++++++++++
mapping solver time 24.116322 ms 
--------------------stamp1317358169.778424024
prepare time 10.535473 
sort q time 5.517878 
seperate points time 12.643463 
publication time 9.523455 ms 
whole laserOdometry time 9.538449 ms 
 
-----t: 0.0453281
OdomCount 3925 & avg odom time 0.045135 ms ++++++++++++++++++++++
build tree time 20.277404 ms 
--------------------stamp1317358169.882241010
prepare time 10.216014 
sort q time 5.365394 
seperate points time 12.127045 
mapping solver time 29.851423 ms 
publication time 8.807327 ms 
whole laserOdometry time 8.822751 ms 
 
mapping data assosiation time 30.431164 ms 
mapping solver time 19.140824 ms 
filter time 6.351873 ms 
--------------------stamp1317358169.986062049
prepare time 12.378675 
sort q time 4.648448 
seperate points time 11.655768 
publication time 8.855946 ms 
whole laserOdometry time 8.871366 ms 
 
--------------------stamp1317358170.089885950
prepare time 12.116581 
sort q time 5.222397 
seperate points time 12.459932 
-----t: 0.0385867
OdomCount 3928 & avg odom time 0.045132 ms ++++++++++++++++++++++
build tree time 20.815039 ms 
--------------------stamp1317358170.193708896
sort q time 5.269284 
seperate points time 12.681668 
mapping solver time 31.768795 ms 
-----t: 0.046416
OdomCount 3929 & avg odom time 0.045132 ms ++++++++++++++++++++++
mapping data assosiation time 30.981971 ms 
mapping solver time 19.918126 ms 
mapping pub time 2.268079 ms 
whole mapping time 151.800809 ms +++++
mappingCount 2602 & avg mapping time 152.681370 ms ++++++++++++++++++++++
sort q time 4.471344 
seperate points time 9.821496 
publication time 9.277150 ms 
whole laserOdometry time 9.293178 ms 
 
mapping solver time 25.486973 ms 
--------------------stamp1317358170.401328086
sort q time 5.208403 
seperate points time 10.952364 
mapping solver time 23.290152 ms 
publication time 10.922043 ms 
whole laserOdometry time 10.938688 ms 
 
-----t: 0.0463378
OdomCount 3931 & avg odom time 0.045130 ms ++++++++++++++++++++++
mapping data assosiation time 26.205415 ms 
--------------------stamp1317358170.505129098
mapping solver time 31.687990 ms 
publication time 9.274667 ms 
whole laserOdometry time 9.292322 ms 
 
mapping solver time 31.582976 ms 
mapping pub time 1.939191 ms 
whole mapping time 153.370373 ms +++++
mappingCount 2604 & avg mapping time 152.677890 ms ++++++++++++++++++++++
1317358170.297530890 WriteOdom aft_mapped_to_init
points size 88986 
sort q time 4.889597 
seperate points time 12.241712 
mapping data assosiation time 31.159210 ms 
-----t: 0.0483682
OdomCount 3933 & avg odom time 0.045138 ms ++++++++++++++++++++++
1317358170.608952999 WriteOdom laser_odom_to_init
1317358170.608952999 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.284824 ms 
points size 90284 
mapping optimization time 124.144026 
map prepare time 2.548038 ms
map corner num 62256  surf num 26987 
build tree time 15.823362 ms 
mapping data assosiation time 29.820126 ms 
--------------------stamp1317358170.816572904
prepare time 12.086913 
scan registration time 29.488007 ms *************
publication time 7.378034 ms 
whole laserOdometry time 7.390226 ms 
 
mapping solver time 22.592762 ms 
mapping pub time 2.849839 ms 
whole mapping time 142.522008 ms +++++
mappingCount 2606 & avg mapping time 152.667653 ms ++++++++++++++++++++++
build tree time 11.981290 ms 
--------------------stamp1317358170.920371055
mapping data assosiation time 29.113555 ms 
scan registration time 25.561805 ms *************
publication time 10.812762 ms 
whole laserOdometry time 10.827094 ms 
 
mapping solver time 36.120256 ms 
mapping data assosiation time 30.525770 ms 
mapping solver time 19.303671 ms 
mapping pub time 2.152162 ms 
whole mapping time 141.441478 ms +++++
mappingCount 2607 & avg mapping time 152.663348 ms ++++++++++++++++++++++
sort q time 6.385223 
seperate points time 12.984853 
publication time 10.584221 ms 
whole laserOdometry time 10.598371 ms 
 
-----t: 0.0461653
OdomCount 3937 & avg odom time 0.045136 ms ++++++++++++++++++++++
mapping solver time 24.863533 ms 
--------------------stamp1317358171.127943992
points size 89378 
sort q time 5.853544 
seperate points time 13.152570 
mapping solver time 26.216953 ms 
map prepare time 3.382769 ms
map corner num 64550  surf num 28210 
build tree time 14.236983 ms 
--------------------stamp1317358171.231720924
sort q time 6.774188 
seperate points time 11.911032 
mapping solver time 38.715324 ms 
-----t: 0.0423029
OdomCount 3939 & avg odom time 0.045134 ms ++++++++++++++++++++++
mapping data assosiation time 30.548264 ms 
mapping solver time 19.000634 ms 
mapping pub time 1.873214 ms 
whole mapping time 142.641217 ms +++++
mappingCount 2609 & avg mapping time 152.658715 ms ++++++++++++++++++++++
points size 89452 
sort q time 5.162190 
seperate points time 11.268210 
publication time 8.511865 ms 
whole laserOdometry time 8.525621 ms 
 
mapping solver time 25.115288 ms 
mapping data assosiation time 26.847830 ms 
points size 87110 
mapping solver time 21.101629 ms 
mapping pub time 2.132815 ms 
whole mapping time 139.170408 ms +++++
mappingCount 2610 & avg mapping time 152.653550 ms ++++++++++++++++++++++
map prepare time 3.264318 ms
map corner num 66080  surf num 29154 
build tree time 16.443065 ms 
mapping data assosiation time 26.403111 ms 
--------------------stamp1317358171.543023109
sort q time 4.922757 
seperate points time 10.538303 
publication time 7.914281 ms 
whole laserOdometry time 7.927937 ms 
 
-----t: 0.0328057
OdomCount 3942 & avg odom time 0.045125 ms ++++++++++++++++++++++
mapping solver time 21.048768 ms 
[0m[ INFO] [1718890254.507173187, 1317358171.605619241]: Received 96394 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890254.507201673, 1317358171.605619241]: Data saved to 1317358171335496.pcd[0m
build tree time 14.171284 ms 
--------------------stamp1317358171.646750926
mapping data assosiation time 29.365056 ms 
scan registration time 22.407242 ms *************
publication time 9.138796 ms 
whole laserOdometry time 9.151123 ms 
 
-----t: 0.0463489
OdomCount 3943 & avg odom time 0.045125 ms ++++++++++++++++++++++
mapping data assosiation time 31.379125 ms 
mapping solver time 18.660009 ms 
1317358171.439271927 WriteOdom aft_mapped_to_init
build tree time 14.818477 ms 
publication time 9.141977 ms 
whole laserOdometry time 9.170972 ms 
 
mapping solver time 28.673346 ms 
--------------------stamp1317358171.854249000
mapping data assosiation time 30.547532 ms 
publication time 8.789121 ms 
whole laserOdometry time 8.804509 ms 
 
mapping solver time 40.122502 ms 
1317358171.646750927 WriteOdom aft_mapped_to_init
build tree time 14.099022 ms 
--------------------stamp1317358171.957974910
sort q time 4.056543 
seperate points time 9.095657 
publication time 8.204138 ms 
whole laserOdometry time 8.215198 ms 
 
-----t: 0.0298996
OdomCount 3946 & avg odom time 0.045118 ms ++++++++++++++++++++++
1317358171.957974910 WriteOdom laser_odom_to_init
1317358171.957974910 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.115828 ms 
mapping solver time 23.815024 ms 
mapping pub time 1.863652 ms 
whole mapping time 139.239643 ms +++++
mappingCount 2614 & avg mapping time 152.640720 ms ++++++++++++++++++++++
prepare time 9.966839 
build tree time 19.108627 ms 
sort q time 5.005167 
seperate points time 11.858411 
scan registration time 23.836935 ms *************
-----t: 0.0290562
OdomCount 3947 & avg odom time 0.045114 ms ++++++++++++++++++++++
mapping data assosiation time 30.513610 ms 
mapping solver time 30.103158 ms 
--------------------stamp1317358172.165406942
points size 87559 
sort q time 4.691515 
seperate points time 11.205166 
mapping solver time 36.834840 ms 
filter time 5.852651 ms 
build tree time 13.984526 ms 
mapping data assosiation time 24.997003 ms 
points size 89073 
sort q time 5.478306 
seperate points time 11.773447 
1317358172.269084930 WriteOdom laser_odom_to_init
mapping data assosiation time 32.071650 ms 
mapping solver time 25.285255 ms 
[0m[ INFO] [1718890255.264529403, 1317358172.361161008]: Received 102329 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890255.264558693, 1317358172.361161008]: Data saved to 1317358172061702.pcd[0m
points size 89941 
build tree time 17.288382 ms 
-----t: 0.0300939
OdomCount 3950 & avg odom time 0.045103 ms ++++++++++++++++++++++
mapping solver time 30.075961 ms 
--------------------stamp1317358172.476466894
prepare time 10.459010 
sort q time 6.226719 
seperate points time 12.197922 
filter time 6.351799 ms 
build tree time 17.048136 ms 
--------------------stamp1317358172.580168962
sort q time 5.476806 
seperate points time 12.285423 
mapping solver time 35.806878 ms 
publication time 12.397498 ms 
whole laserOdometry time 12.408804 ms 
 
mapping data assosiation time 33.287438 ms 
mapping solver time 24.187142 ms 
--------------------stamp1317358172.683871984
points size 93376 
prepare time 13.297512 
publication time 11.370565 ms 
whole laserOdometry time 11.390452 ms 
 
mapping data assosiation time 38.301567 ms 
mapping solver time 32.114118 ms 
prepare time 10.223201 
scan registration time 26.880748 ms *************
publication time 10.912547 ms 
whole laserOdometry time 10.929891 ms 
 
-----t: 0.0456393
OdomCount 3954 & avg odom time 0.045105 ms ++++++++++++++++++++++
mapping solver time 37.982838 ms 
mapping pub time 2.061061 ms 
whole mapping time 179.816311 ms +++++
mappingCount 2619 & avg mapping time 152.653982 ms ++++++++++++++++++++++
build tree time 15.544788 ms 
points size 95550 
sort q time 5.169402 
seperate points time 12.244454 
publication time 11.194273 ms 
whole laserOdometry time 11.220712 ms 
 
mapping solver time 38.641418 ms 
mapping data assosiation time 29.322379 ms 
points size 97105 
sort q time 5.608854 
seperate points time 11.780364 
filter time 7.878859 ms 
-----t: 0.0363653
OdomCount 3956 & avg odom time 0.045101 ms ++++++++++++++++++++++
build tree time 17.403078 ms 
mapping data assosiation time 28.962707 ms 
--------------------stamp1317358173.098656892
points size 98270 
sort q time 5.979087 
seperate points time 13.431808 
-----t: 0.0351322
OdomCount 3957 & avg odom time 0.045099 ms ++++++++++++++++++++++
mapping solver time 19.761315 ms 
[0m[ INFO] [1718890256.082067334, 1317358173.184526585]: Received 108927 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890256.082131207, 1317358173.184526585]: Data saved to 1317358172891302.pcd[0m
--------------------stamp1317358173.202358961
sort q time 5.705184 
seperate points time 14.110019 
publication time 8.028533 ms 
whole laserOdometry time 8.039631 ms 
 
-----t: 0.0534723
OdomCount 3958 & avg odom time 0.045101 ms ++++++++++++++++++++++
--------------------stamp1317358173.306087017
sort q time 5.995693 
seperate points time 14.689264 
scan registration time 31.684153 ms *************
mapping pub time 158.812783 ms 
whole mapping time 301.274653 ms +++++
mappingCount 2621 & avg mapping time 152.714974 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
build tree time 20.985032 ms 
-----t: 0.0558931
OdomCount 3959 & avg odom time 0.045103 ms ++++++++++++++++++++++
mapping data assosiation time 30.960315 ms 
--------------------stamp1317358173.409816026
prepare time 12.732841 
mapping solver time 37.731289 ms 
publication time 10.505721 ms 
whole laserOdometry time 10.518211 ms 
 
mapping data assosiation time 38.457239 ms 
mapping solver time 30.607759 ms 
mapping pub time 2.330045 ms 
whole mapping time 175.484073 ms +++++
mappingCount 2622 & avg mapping time 152.723660 ms ++++++++++++++++++++++
sort q time 5.900721 
seperate points time 13.543146 
publication time 10.943584 ms 
whole laserOdometry time 10.963036 ms 
 
mapping data assosiation time 36.367760 ms 
mapping solver time 32.572468 ms 
points size 99969 
sort q time 5.377628 
seperate points time 12.754429 
scan registration time 27.978153 ms *************
mapping data assosiation time 32.733634 ms 
publication time 9.500352 ms 
whole laserOdometry time 9.515959 ms 
 
mapping solver time 32.818550 ms 
filter time 5.869880 ms 
map prepare time 2.815802 ms
map corner num 76801  surf num 34698 
build tree time 15.318258 ms 
--------------------stamp1317358173.721138954
points size 99837 
prepare time 13.141263 
scan registration time 31.797603 ms *************
publication time 8.828862 ms 
whole laserOdometry time 8.846587 ms 
 
mapping data assosiation time 30.366689 ms 
--------------------stamp1317358173.824961900
points size 98382 
mapping solver time 30.423046 ms 
mapping optimization time 154.160772 
add points time 1.124602 ms
-----t: 0.035685
OdomCount 3964 & avg odom time 0.045102 ms ++++++++++++++++++++++
build tree time 22.804602 ms 
mapping data assosiation time 31.575962 ms 
--------------------stamp1317358173.928786039
prepare time 12.255647 
sort q time 5.417782 
seperate points time 12.921386 
-----t: 0.0369049
OdomCount 3965 & avg odom time 0.045099 ms ++++++++++++++++++++++
mapping data assosiation time 34.809619 ms 
mapping solver time 27.823996 ms 
drop lidar frame in mapping for real time performance 
sort q time 5.825519 
seperate points time 13.392922 
publication time 9.818894 ms 
whole laserOdometry time 9.836135 ms 
 
mapping data assosiation time 35.291590 ms 
--------------------stamp1317358174.136502981
sort q time 5.516198 
seperate points time 12.293239 
mapping data assosiation time 36.382838 ms 
-----t: 0.0399652
OdomCount 3967 & avg odom time 0.045097 ms ++++++++++++++++++++++
1317358174.136502981 WriteOdom laser_odom_to_init
1317358174.136502981 WriteOdom aft_mapped_to_init_high_frec
filter time 5.704149 ms 
map prepare time 2.741298 ms
map corner num 79544  surf num 36019 
build tree time 18.260991 ms 
points size 96026 
sort q time 5.953289 
seperate points time 14.522814 
publication time 9.415160 ms 
whole laserOdometry time 9.427421 ms 
 
-----t: 0.0554989
OdomCount 3968 & avg odom time 0.045100 ms ++++++++++++++++++++++
mapping solver time 43.204783 ms 
--------------------stamp1317358174.344296932
sort q time 6.668733 
seperate points time 13.138571 
publication time 11.734619 ms 
whole laserOdometry time 11.747259 ms 
 
mapping solver time 37.577985 ms 
mapping optimization time 175.235294 
add points time 0.857907 ms
-----t: 0.0699306
OdomCount 3969 & avg odom time 0.045106 ms ++++++++++++++++++++++
--------------------stamp1317358174.448262929
points size 96374 
sort q time 5.873215 
seperate points time 14.328673 
publication time 9.812272 ms 
whole laserOdometry time 9.824122 ms 
 
mapping solver time 41.155113 ms 
--------------------stamp1317358174.552273988
prepare time 12.702181 
sort q time 6.876269 
seperate points time 13.946442 
mapping solver time 39.988418 ms 
filter time 9.164619 ms 
build tree time 16.375346 ms 
--------------------stamp1317358174.656311988
prepare time 10.972431 
sort q time 5.520536 
seperate points time 12.676751 
publication time 6.869939 ms 
whole laserOdometry time 6.888151 ms 
 
-----t: 0.0405505
OdomCount 3972 & avg odom time 0.045108 ms ++++++++++++++++++++++
mapping data assosiation time 33.752724 ms 
--------------------stamp1317358174.760349988
prepare time 11.291220 
sort q time 6.921403 
seperate points time 13.310926 
publication time 9.322920 ms 
whole laserOdometry time 9.337762 ms 
 
1317358174.760349988 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.033206 ms 
--------------------stamp1317358174.864413022
prepare time 11.470762 
sort q time 5.552464 
seperate points time 13.439219 
publication time 9.597432 ms 
whole laserOdometry time 9.620213 ms 
 
-----t: 0.0446593
OdomCount 3974 & avg odom time 0.045107 ms ++++++++++++++++++++++
mapping data assosiation time 36.111777 ms 
mapping solver time 30.293292 ms 
points size 101103 
sort q time 6.224156 
seperate points time 13.723116 
build tree time 22.194779 ms 
-----t: 0.0394985
OdomCount 3975 & avg odom time 0.045106 ms ++++++++++++++++++++++
mapping data assosiation time 34.756941 ms 
--------------------stamp1317358175.072609901
prepare time 12.758860 
scan registration time 31.827244 ms *************
publication time 11.380036 ms 
whole laserOdometry time 11.400049 ms 
 
mapping solver time 39.086417 ms 
filter time 6.305508 ms 
points size 99946 
sort q time 5.872133 
seperate points time 13.858921 
publication time 10.117935 ms 
whole laserOdometry time 10.135026 ms 
 
mapping data assosiation time 43.550204 ms 
--------------------stamp1317358175.280879020
sort q time 6.562509 
seperate points time 15.213809 
scan registration time 33.192127 ms *************
publication time 9.859476 ms 
whole laserOdometry time 9.872319 ms 
 
mapping data assosiation time 44.546014 ms 
--------------------stamp1317358175.385061979
points size 96879 
mapping solver time 47.795902 ms 
mapping pub time 2.644653 ms 
whole mapping time 231.497998 ms +++++
mappingCount 2632 & avg mapping time 152.853109 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
build tree time 21.631141 ms 
-----t: 0.0611881
OdomCount 3979 & avg odom time 0.045122 ms ++++++++++++++++++++++
mapping data assosiation time 37.110558 ms 
points size 95213 
sort q time 5.582572 
seperate points time 13.059329 
mapping solver time 50.177140 ms 
-----t: 0.0488527
OdomCount 3980 & avg odom time 0.045123 ms ++++++++++++++++++++++
mapping data assosiation time 37.270020 ms 
--------------------stamp1317358175.593431949
mapping solver time 44.141678 ms 
filter time 8.609044 ms 
publication time 10.267814 ms 
whole laserOdometry time 10.284499 ms 
 
build tree time 18.978507 ms 
mapping data assosiation time 29.118510 ms 
--------------------stamp1317358175.697614908
sort q time 5.768556 
seperate points time 11.222168 
-----t: 0.0389037
OdomCount 3982 & avg odom time 0.045121 ms ++++++++++++++++++++++
mapping data assosiation time 37.582098 ms 
mapping solver time 31.549804 ms 
sort q time 5.634937 
seperate points time 11.604326 
build tree time 19.451189 ms 
publication time 8.529611 ms 
whole laserOdometry time 8.546733 ms 
 
mapping data assosiation time 35.564715 ms 
--------------------stamp1317358175.905904054
publication time 9.131833 ms 
whole laserOdometry time 9.148108 ms 
 
-----t: 0.0488373
OdomCount 3984 & avg odom time 0.045120 ms ++++++++++++++++++++++
mapping solver time 33.076556 ms 
mapping optimization time 167.541238 
add points time 0.924056 ms
map prepare time 2.863238 ms
map corner num 77754  surf num 36216 
--------------------stamp1317358176.010062932
build tree time 20.854892 ms 
sort q time 5.136398 
seperate points time 12.059673 
publication time 9.206895 ms 
whole laserOdometry time 9.221909 ms 
 
mapping solver time 37.434196 ms 
--------------------stamp1317358176.114223003
prepare time 9.732220 
sort q time 5.596669 
seperate points time 10.776162 
publication time 8.506092 ms 
whole laserOdometry time 8.522466 ms 
 
-----t: 0.0356106
OdomCount 3986 & avg odom time 0.045116 ms ++++++++++++++++++++++
mapping solver time 44.025805 ms 
[0m[ INFO] [1718890259.091036481, 1317358176.185415571]: Received 115586 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890259.091108882, 1317358176.185415571]: Data saved to 1317358175801769.pcd[0m
build tree time 15.673926 ms 
points size 90326 
sort q time 5.501241 
seperate points time 12.033621 
mapping solver time 44.261662 ms 
--------------------stamp1317358176.322475910
prepare time 11.438794 
sort q time 5.500927 
seperate points time 11.740881 
publication time 10.407465 ms 
whole laserOdometry time 10.427348 ms 
 
mapping optimization time 184.778117 
filter time 9.720492 ms 
build tree time 22.330513 ms 
points size 90556 
sort q time 5.885119 
seperate points time 15.019812 
mapping data assosiation time 45.060377 ms 
-----t: 0.0471365
OdomCount 3989 & avg odom time 0.045131 ms ++++++++++++++++++++++
mapping solver time 46.745314 ms 
--------------------stamp1317358176.530622005
mapping data assosiation time 41.773640 ms 
publication time 18.967587 ms 
whole laserOdometry time 18.982641 ms 
 
-----t: 0.0529715
OdomCount 3990 & avg odom time 0.045133 ms ++++++++++++++++++++++
mapping solver time 49.332115 ms 
filter time 6.315213 ms 
--------------------stamp1317358176.634685039
sort q time 5.482652 
seperate points time 11.968858 
publication time 9.589631 ms 
whole laserOdometry time 9.606268 ms 
 
mapping solver time 38.012605 ms 
--------------------stamp1317358176.738744020
prepare time 8.737576 
sort q time 5.961671 
seperate points time 11.349792 
publication time 8.820875 ms 
whole laserOdometry time 8.839785 ms 
 
mapping solver time 37.233310 ms 
mapping optimization time 178.332330 
add points time 0.863291 ms
map prepare time 3.027426 ms
map corner num 82070  surf num 38642 
build tree time 18.469201 ms 
points size 92375 
--------------------stamp1317358176.946798086
mapping data assosiation time 37.298696 ms 
sort q time 6.162843 
seperate points time 12.413702 
scan registration time 24.939234 ms *************
publication time 8.562211 ms 
whole laserOdometry time 8.574619 ms 
 
mapping solver time 32.006566 ms 
filter time 8.376558 ms 
build tree time 16.917903 ms 
--------------------stamp1317358177.050787925
points size 93895 
sort q time 5.593618 
seperate points time 13.033678 
publication time 8.541869 ms 
whole laserOdometry time 8.551851 ms 
 
mapping solver time 44.161421 ms 
mapping data assosiation time 38.384753 ms 
points size 95012 
prepare time 8.525272 
filter time 7.063151 ms 
-----t: 0.0441153
OdomCount 3996 & avg odom time 0.045127 ms ++++++++++++++++++++++
--------------------stamp1317358177.258696079
sort q time 5.573588 
seperate points time 13.246611 
publication time 10.049229 ms 
whole laserOdometry time 10.064853 ms 
 
mapping pub time 175.433213 ms 
whole mapping time 352.885901 ms +++++
mappingCount 2641 & avg mapping time 153.059986 ms ++++++++++++++++++++++
prepare time 11.934994 
sort q time 5.665350 
seperate points time 12.060856 
publication time 10.456327 ms 
whole laserOdometry time 10.469646 ms 
 
-----t: 0.0490977
OdomCount 3998 & avg odom time 0.045128 ms ++++++++++++++++++++++
--------------------stamp1317358177.466511011
sort q time 7.146343 
seperate points time 16.576599 
publication time 10.057331 ms 
whole laserOdometry time 10.070692 ms 
 
-----t: 0.0603111
OdomCount 3999 & avg odom time 0.045132 ms ++++++++++++++++++++++
mapping solver time 40.429390 ms 
mapping pub time 2.391954 ms 
whole mapping time 208.673916 ms +++++
mappingCount 2642 & avg mapping time 153.081038 ms ++++++++++++++++++++++
sort q time 5.307664 
seperate points time 12.549536 
publication time 8.449692 ms 
whole laserOdometry time 8.465300 ms 
 
-----t: 0.0508973
OdomCount 4000 & avg odom time 0.045133 ms ++++++++++++++++++++++
--------------------stamp1317358177.674278974
prepare time 10.202488 
sort q time 5.425175 
seperate points time 13.013339 
-----t: 0.0368846
OdomCount 4001 & avg odom time 0.045131 ms ++++++++++++++++++++++
mapping solver time 24.302546 ms 
mapping optimization time 172.110695 
add points time 0.834869 ms
--------------------stamp1317358177.778100013
build tree time 20.680468 ms 
publication time 7.982885 ms 
whole laserOdometry time 8.017370 ms 
 
mapping solver time 38.980034 ms 
--------------------stamp1317358177.881922960
prepare time 11.423323 
sort q time 5.913622 
seperate points time 11.387283 
publication time 9.639017 ms 
whole laserOdometry time 9.654827 ms 
 
-----t: 0.0369434
OdomCount 4003 & avg odom time 0.045127 ms ++++++++++++++++++++++
mapping optimization time 182.696966 
add points time 0.860946 ms
filter time 6.416846 ms 
--------------------stamp1317358177.985718965
prepare time 8.354489 
sort q time 4.273458 
seperate points time 10.040365 
publication time 7.852296 ms 
whole laserOdometry time 7.867850 ms 
 
-----t: 0.0394434
OdomCount 4004 & avg odom time 0.045125 ms ++++++++++++++++++++++
mapping solver time 41.188644 ms 
--------------------stamp1317358178.089490890
mapping data assosiation time 32.678677 ms 
publication time 7.505555 ms 
whole laserOdometry time 7.525445 ms 
 
mapping solver time 38.026222 ms 
filter time 8.558103 ms 
mapping pub time 2.265674 ms 
whole mapping time 188.811604 ms +++++
mappingCount 2645 & avg mapping time 153.123214 ms ++++++++++++++++++++++
1317358177.778100014 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.756579 ms
map corner num 87926  surf num 41665 
build tree time 19.675098 ms 
--------------------stamp1317358178.193268060
sort q time 4.718085 
seperate points time 9.376916 
publication time 8.395609 ms 
whole laserOdometry time 8.413824 ms 
 
1317358178.193268060 WriteOdom laser_odom_to_init
1317358178.193268060 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.699100 ms 
mapping data assosiation time 28.303998 ms 
--------------------stamp1317358178.297044038
sort q time 4.229463 
seperate points time 10.159309 
publication time 6.897332 ms 
whole laserOdometry time 6.912494 ms 
 
build tree time 18.102403 ms 
mapping data assosiation time 28.508389 ms 
points size 76886 
sort q time 4.201098 
seperate points time 10.347791 
mapping solver time 44.965815 ms 
-----t: 0.0500302
OdomCount 4008 & avg odom time 0.045121 ms ++++++++++++++++++++++
mapping solver time 27.608825 ms 
mapping pub time 1.965882 ms 
whole mapping time 169.780898 ms +++++
mappingCount 2647 & avg mapping time 153.141037 ms ++++++++++++++++++++++
sort q time 4.368774 
seperate points time 10.522560 
publication time 7.637328 ms 
whole laserOdometry time 7.649438 ms 
 
-----t: 0.0371365
OdomCount 4009 & avg odom time 0.045119 ms ++++++++++++++++++++++
mapping data assosiation time 29.904477 ms 
mapping solver time 30.982740 ms 
prepare time 7.470339 
sort q time 5.375989 
seperate points time 10.334220 
scan registration time 19.136765 ms *************
-----t: 0.030488
OdomCount 4010 & avg odom time 0.045115 ms ++++++++++++++++++++++
mapping solver time 31.997184 ms 
mapping optimization time 152.500041 
add points time 1.013367 ms
build tree time 18.070757 ms 
points size 78547 
sort q time 4.622800 
seperate points time 11.418976 
publication time 12.346288 ms 
whole laserOdometry time 12.362633 ms 
 
-----t: 0.0483589
OdomCount 4011 & avg odom time 0.045116 ms ++++++++++++++++++++++
1317358178.712021112 WriteOdom laser_odom_to_init
1317358178.712021112 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 42.194031 ms 
mapping data assosiation time 28.317597 ms 
points size 82946 
sort q time 4.866817 
seperate points time 10.434423 
scan registration time 20.394333 ms *************
publication time 7.469653 ms 
whole laserOdometry time 7.485248 ms 
 
build tree time 16.975696 ms 
mapping data assosiation time 27.243350 ms 
--------------------stamp1317358178.919548034
mapping solver time 34.896974 ms 
publication time 6.734869 ms 
whole laserOdometry time 6.749422 ms 
 
-----t: 0.034153
OdomCount 4013 & avg odom time 0.045108 ms ++++++++++++++++++++++
mapping solver time 27.708954 ms 
filter time 5.484669 ms 
--------------------stamp1317358179.023322105
prepare time 9.684062 
sort q time 5.636241 
seperate points time 12.847601 
-----t: 0.0414377
OdomCount 4014 & avg odom time 0.045107 ms ++++++++++++++++++++++
mapping solver time 31.332634 ms 
mapping data assosiation time 28.508388 ms 
--------------------stamp1317358179.127094030
mapping solver time 21.199137 ms 
mapping pub time 5.483668 ms 
whole mapping time 147.095310 ms +++++
mappingCount 2651 & avg mapping time 153.148458 ms ++++++++++++++++++++++
publication time 7.738998 ms 
whole laserOdometry time 7.750399 ms 
 
-----t: 0.0535389
OdomCount 4015 & avg odom time 0.045110 ms ++++++++++++++++++++++
mapping data assosiation time 31.924119 ms 
--------------------stamp1317358179.230871915
mapping solver time 35.848624 ms 
publication time 6.497694 ms 
whole laserOdometry time 6.508872 ms 
 
mapping data assosiation time 35.479683 ms 
mapping solver time 25.494013 ms 
filter time 5.514712 ms 
--------------------stamp1317358179.334671020
points size 83799 
sort q time 4.876756 
seperate points time 11.538671 
publication time 7.989365 ms 
whole laserOdometry time 8.003780 ms 
 
-----t: 0.0366913
OdomCount 4017 & avg odom time 0.045107 ms ++++++++++++++++++++++
mapping solver time 29.011344 ms 
mapping data assosiation time 26.013030 ms 
points size 83542 
add points time 1.130473 ms
map prepare time 3.184007 ms
map corner num 73128  surf num 35257 
publication time 8.453894 ms 
whole laserOdometry time 8.468793 ms 
 
mapping data assosiation time 24.254509 ms 
--------------------stamp1317358179.542243003
sort q time 4.363784 
seperate points time 9.096585 
publication time 7.378123 ms 
whole laserOdometry time 7.406198 ms 
 
mapping solver time 19.087928 ms 
mapping optimization time 121.386366 
add points time 1.203803 ms
build tree time 14.601636 ms 
--------------------stamp1317358179.646015882
sort q time 4.584013 
seperate points time 11.005925 
mapping solver time 36.774669 ms 
mapping data assosiation time 25.787123 ms 
mapping solver time 19.215362 ms 
mapping pub time 1.992520 ms 
whole mapping time 136.375482 ms +++++
mappingCount 2655 & avg mapping time 153.135428 ms ++++++++++++++++++++++
points size 85828 
sort q time 5.998251 
seperate points time 11.297839 
publication time 7.093604 ms 
whole laserOdometry time 7.108978 ms 
 
mapping data assosiation time 28.731938 ms 
mapping solver time 27.619241 ms 
mapping data assosiation time 24.976738 ms 
points size 83503 
sort q time 4.731033 
seperate points time 9.468097 
scan registration time 19.043759 ms *************
mapping solver time 28.345641 ms 
mapping optimization time 130.470227 
add points time 1.027304 ms
filter time 7.294426 ms 
[0m[ INFO] [1718890262.787192807, 1317358179.876959932]: Received 112250 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890262.787258184, 1317358179.876959932]: Data saved to 1317358179646015.pcd[0m
mapping pub time 4.462805 ms 
whole mapping time 145.739712 ms +++++
mappingCount 2656 & avg mapping time 153.132648 ms ++++++++++++++++++++++
1317358179.646015882 WriteOdom aft_mapped_to_init
build tree time 21.312833 ms 
-----t: 0.0629066
OdomCount 4022 & avg odom time 0.045096 ms ++++++++++++++++++++++
mapping data assosiation time 28.522741 ms 
--------------------stamp1317358179.957391023
prepare time 9.349033 
sort q time 4.901641 
seperate points time 12.028296 
publication time 8.683660 ms 
whole laserOdometry time 8.701194 ms 
 
mapping data assosiation time 34.811528 ms 
mapping solver time 18.006834 ms 
mapping pub time 1.889792 ms 
whole mapping time 146.163174 ms +++++
mappingCount 2657 & avg mapping time 153.130026 ms ++++++++++++++++++++++
build tree time 16.140231 ms 
points size 84373 
sort q time 5.856950 
seperate points time 13.817255 
publication time 8.494062 ms 
whole laserOdometry time 8.523677 ms 
 
mapping solver time 32.809728 ms 
-----t: 0.0713418
OdomCount 4024 & avg odom time 0.045100 ms ++++++++++++++++++++++
mapping data assosiation time 28.387343 ms 
--------------------stamp1317358180.165014028
mapping optimization time 131.125215 
sort q time 5.698222 
seperate points time 10.971915 
publication time 9.541364 ms 
whole laserOdometry time 9.580755 ms 
 
build tree time 24.094522 ms 
-----t: 0.064067
OdomCount 4025 & avg odom time 0.045105 ms ++++++++++++++++++++++
--------------------stamp1317358180.268886089
mapping solver time 31.048049 ms 
publication time 7.966075 ms 
whole laserOdometry time 7.975552 ms 
 
mapping solver time 24.197342 ms 
mapping pub time 1.885336 ms 
whole mapping time 158.890098 ms +++++
mappingCount 2659 & avg mapping time 153.128972 ms ++++++++++++++++++++++
build tree time 16.666438 ms 
points size 90285 
sort q time 5.953850 
seperate points time 11.232439 
mapping data assosiation time 33.133013 ms 
-----t: 0.0469318
OdomCount 4027 & avg odom time 0.045103 ms ++++++++++++++++++++++
mapping data assosiation time 24.592683 ms 
--------------------stamp1317358180.476769924
prepare time 10.376975 
add points time 1.140440 ms
publication time 8.063594 ms 
whole laserOdometry time 8.075739 ms 
 
build tree time 20.576700 ms 
mapping data assosiation time 26.366846 ms 
--------------------stamp1317358180.580836057
prepare time 9.296752 
sort q time 5.439349 
seperate points time 13.020879 
publication time 8.081414 ms 
whole laserOdometry time 8.103775 ms 
 
-----t: 0.0464922
OdomCount 4029 & avg odom time 0.045101 ms ++++++++++++++++++++++
mapping solver time 27.137775 ms 
filter time 6.746747 ms 
points size 95053 
sort q time 7.375259 
seperate points time 14.956881 
publication time 12.034951 ms 
whole laserOdometry time 12.048656 ms 
 
--------------------stamp1317358180.789103031
prepare time 14.144015 
-----t: 0.126397
OdomCount 4030 & avg odom time 0.045121 ms ++++++++++++++++++++++
publication time 10.411408 ms 
whole laserOdometry time 10.423113 ms 
 
map prepare time 2.699593 ms
map corner num 79425  surf num 39800 
build tree time 20.715165 ms 
sort q time 6.945128 
seperate points time 13.394116 
publication time 9.275816 ms 
whole laserOdometry time 9.290019 ms 
 
mapping solver time 40.936028 ms 
-----t: 0.0813808
OdomCount 4032 & avg odom time 0.045132 ms ++++++++++++++++++++++
points size 97808 
sort q time 5.223163 
seperate points time 12.079974 
filter time 8.901739 ms 
build tree time 21.593217 ms 
--------------------stamp1317358181.101914882
sort q time 5.284422 
seperate points time 11.539308 
scan registration time 26.663666 ms *************
publication time 9.440286 ms 
whole laserOdometry time 9.463192 ms 
 
-----t: 0.0592257
OdomCount 4034 & avg odom time 0.045147 ms ++++++++++++++++++++++
--------------------stamp1317358181.206242084
mapping solver time 36.068001 ms 
mapping pub time 2.259584 ms 
whole mapping time 185.745432 ms +++++
mappingCount 2663 & avg mapping time 153.226795 ms ++++++++++++++++++++++
publication time 7.767433 ms 
whole laserOdometry time 7.781385 ms 
 
mapping data assosiation time 28.678701 ms 
--------------------stamp1317358181.310544967
prepare time 11.461676 
sort q time 6.278837 
seperate points time 12.868164 
scan registration time 28.880346 ms *************
mapping data assosiation time 36.309605 ms 
-----t: 0.0475611
OdomCount 4036 & avg odom time 0.045146 ms ++++++++++++++++++++++
1317358181.310544967 WriteOdom laser_odom_to_init
1317358181.310544967 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 36.546640 ms 
filter time 6.324565 ms 
map prepare time 2.899197 ms
map corner num 82444  surf num 42019 
points size 100848 
build tree time 24.778915 ms 
scan registration time 34.526705 ms *************
publication time 11.691225 ms 
whole laserOdometry time 11.709319 ms 
 
mapping solver time 31.723210 ms 
--------------------stamp1317358181.519124031
prepare time 10.472178 
mapping data assosiation time 30.967540 ms 
publication time 8.217057 ms 
whole laserOdometry time 8.236099 ms 
 
mapping solver time 33.039603 ms 
mapping pub time 2.205770 ms 
whole mapping time 175.491851 ms +++++
mappingCount 2665 & avg mapping time 153.243000 ms ++++++++++++++++++++++
build tree time 18.627104 ms 
--------------------stamp1317358181.623429059
prepare time 10.960281 
sort q time 5.606363 
seperate points time 13.478269 
publication time 8.307212 ms 
whole laserOdometry time 8.321417 ms 
 
mapping solver time 40.358834 ms 
mapping data assosiation time 29.893680 ms 
--------------------stamp1317358181.727732896
prepare time 11.614798 
mapping solver time 37.568505 ms 
[0m[ INFO] [1718890264.661752561, 1317358181.755292014]: Received 127954 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890264.661859453, 1317358181.755292014]: Data saved to 1317358181414823.pcd[0mpublication time 11.142711 ms 
whole laserOdometry time 11.157234 ms 
 
mapping data assosiation time 31.089503 ms 
points size 101626 
sort q time 5.532769 
seperate points time 13.499480 
-----t: 0.047506
OdomCount 4041 & avg odom time 0.045145 ms ++++++++++++++++++++++
mapping solver time 21.142238 ms 
mapping optimization time 151.836589 
add points time 0.774900 ms
map prepare time 4.725944 ms
map corner num 85516  surf num 43972 
build tree time 25.369488 ms 
publication time 15.159799 ms 
whole laserOdometry time 15.174803 ms 
 
-----t: 0.0582157
OdomCount 4042 & avg odom time 0.045148 ms ++++++++++++++++++++++
mapping solver time 38.397882 ms 
points size 101572 
sort q time 5.973849 
seperate points time 14.220676 
mapping data assosiation time 46.541763 ms 
mapping solver time 28.837447 ms 
filter time 6.481408 ms 
--------------------stamp1317358182.144722938
prepare time 11.718906 
sort q time 5.404106 
seperate points time 17.456341 
mapping data assosiation time 35.972727 ms 
-----t: 0.0477677
OdomCount 4044 & avg odom time 0.045148 ms ++++++++++++++++++++++
mapping solver time 39.992073 ms 
--------------------stamp1317358182.248883008
points size 101518 
mapping data assosiation time 37.122196 ms 
publication time 8.380632 ms 
whole laserOdometry time 8.396479 ms 
 
mapping solver time 37.213925 ms 
filter time 6.939174 ms 
build tree time 20.342159 ms 
points size 101508 
prepare time 11.236302 
sort q time 5.757667 
seperate points time 12.208377 
publication time 8.422122 ms 
whole laserOdometry time 8.436007 ms 
 
-----t: 0.0536183
OdomCount 4046 & avg odom time 0.045150 ms ++++++++++++++++++++++
--------------------stamp1317358182.457130908
prepare time 10.830531 
sort q time 5.701187 
seperate points time 13.525545 
mapping pub time 2.901396 ms 
whole mapping time 179.924075 ms +++++
mappingCount 2670 & avg mapping time 153.294978 ms ++++++++++++++++++++++
1317358182.144722939 WriteOdom aft_mapped_to_init
build tree time 21.531054 ms 
mapping data assosiation time 27.570058 ms 
prepare time 10.530497 
scan registration time 29.490539 ms *************
publication time 8.332259 ms 
whole laserOdometry time 8.347457 ms 
 
-----t: 0.0390321
OdomCount 4048 & avg odom time 0.045147 ms ++++++++++++++++++++++
1317358182.561242103 WriteOdom laser_odom_to_init
1317358182.561242103 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.935706 ms 
mapping solver time 20.439650 ms 
filter time 6.839320 ms 
points size 101262 
prepare time 11.061766 
build tree time 25.084261 ms 
publication time 8.400947 ms 
whole laserOdometry time 8.432778 ms 
 
mapping data assosiation time 36.847451 ms 
mapping solver time 28.774829 ms 
--------------------stamp1317358182.769391059
points size 101024 
prepare time 15.895396 
sort q time 6.186084 
seperate points time 14.666280 
-----t: 0.0485998
OdomCount 4050 & avg odom time 0.045150 ms ++++++++++++++++++++++
filter time 9.120828 ms 
build tree time 19.626021 ms 
sort q time 5.641876 
seperate points time 12.738647 
mapping data assosiation time 37.546412 ms 
publication time 7.271626 ms 
whole laserOdometry time 7.297999 ms 
 
mapping solver time 34.549882 ms 
--------------------stamp1317358182.977472066
prepare time 12.708646 
mapping solver time 26.540694 ms 
mapping pub time 2.332663 ms 
whole mapping time 169.963454 ms +++++
mappingCount 2673 & avg mapping time 153.312645 ms ++++++++++++++++++++++
publication time 12.919260 ms 
whole laserOdometry time 12.933304 ms 
 
-----t: 0.0524449
OdomCount 4052 & avg odom time 0.045152 ms ++++++++++++++++++++++
mapping data assosiation time 28.299353 ms 
points size 100552 
sort q time 5.647964 
seperate points time 13.675527 
publication time 7.616282 ms 
whole laserOdometry time 7.639891 ms 
 
-----t: 0.047522
OdomCount 4053 & avg odom time 0.045152 ms ++++++++++++++++++++++
mapping solver time 29.985701 ms 
mapping pub time 2.328703 ms 
whole mapping time 176.488988 ms +++++
mappingCount 2674 & avg mapping time 153.321314 ms ++++++++++++++++++++++
sort q time 6.126160 
seperate points time 12.329571 
publication time 8.639382 ms 
whole laserOdometry time 8.657926 ms 
 
-----t: 0.0555636
OdomCount 4054 & avg odom time 0.045155 ms ++++++++++++++++++++++
mapping data assosiation time 33.935501 ms 
--------------------stamp1317358183.289393901
prepare time 11.753853 
sort q time 6.498237 
seperate points time 17.893225 
publication time 10.331156 ms 
whole laserOdometry time 10.351127 ms 
 
mapping data assosiation time 33.027485 ms 
mapping solver time 27.899836 ms 
filter time 9.961071 ms 
map prepare time 4.386378 ms
map corner num 92447  surf num 47916 
sort q time 5.791323 
seperate points time 13.287846 
build tree time 27.058290 ms 
mapping data assosiation time 30.841409 ms 
--------------------stamp1317358183.497107982
prepare time 11.573392 
sort q time 5.919166 
seperate points time 12.536028 
mapping data assosiation time 36.150856 ms 
-----t: 0.0394477
OdomCount 4057 & avg odom time 0.045151 ms ++++++++++++++++++++++
mapping solver time 24.887818 ms 
filter time 7.309187 ms 
map prepare time 2.791818 ms
map corner num 93317  surf num 48370 
points size 99423 
build tree time 24.623918 ms 
sort q time 5.914489 
seperate points time 13.176862 
mapping data assosiation time 33.278107 ms 
-----t: 0.0502912
OdomCount 4058 & avg odom time 0.045152 ms ++++++++++++++++++++++
mapping solver time 34.097235 ms 
--------------------stamp1317358183.704545974
prepare time 11.147343 
sort q time 6.841594 
seperate points time 13.249008 
publication time 7.959515 ms 
whole laserOdometry time 7.975002 ms 
 
filter time 9.916867 ms 
map prepare time 3.519080 ms
map corner num 94209  surf num 48835 
-----t: 0.0630039
OdomCount 4059 & avg odom time 0.045157 ms ++++++++++++++++++++++
build tree time 25.115982 ms 
--------------------stamp1317358183.808178901
prepare time 13.167874 
mapping data assosiation time 31.116610 ms 
publication time 8.066158 ms 
whole laserOdometry time 8.082107 ms 
 
-----t: 0.0395502
OdomCount 4060 & avg odom time 0.045155 ms ++++++++++++++++++++++
mapping data assosiation time 29.921405 ms 
--------------------stamp1317358183.911827087
points size 98355 
mapping solver time 45.797038 ms 
filter time 10.795087 ms 
-----t: 0.0510977
OdomCount 4061 & avg odom time 0.045157 ms ++++++++++++++++++++++
build tree time 25.381963 ms 
--------------------stamp1317358184.015501976
sort q time 5.595369 
seperate points time 12.274544 
publication time 8.637049 ms 
whole laserOdometry time 8.653561 ms 
 
mapping data assosiation time 26.655469 ms 
--------------------stamp1317358184.119182109
points size 95688 
sort q time 5.219019 
seperate points time 12.899273 
-----t: 0.0380797
OdomCount 4063 & avg odom time 0.045153 ms ++++++++++++++++++++++
build tree time 27.571417 ms 
mapping data assosiation time 33.136712 ms 
prepare time 10.193853 
sort q time 5.206455 
seperate points time 11.203247 
publication time 8.247620 ms 
whole laserOdometry time 8.265996 ms 
 
mapping data assosiation time 29.677284 ms 
mapping solver time 34.074339 ms 
mapping pub time 2.213793 ms 
whole mapping time 181.515967 ms +++++
mappingCount 2680 & avg mapping time 153.395179 ms ++++++++++++++++++++++
sort q time 5.532829 
seperate points time 12.357264 
build tree time 24.776594 ms 
-----t: 0.0365188
OdomCount 4065 & avg odom time 0.045147 ms ++++++++++++++++++++++
mapping data assosiation time 31.479823 ms 
mapping solver time 35.149149 ms 
points size 93271 
sort q time 5.125841 
seperate points time 12.550187 
mapping data assosiation time 35.852450 ms 
-----t: 0.0333349
OdomCount 4066 & avg odom time 0.045144 ms ++++++++++++++++++++++
mapping solver time 37.925395 ms 
filter time 7.255765 ms 
--------------------stamp1317358184.533946037
sort q time 6.248291 
seperate points time 12.241236 
publication time 9.167536 ms 
whole laserOdometry time 9.184069 ms 
 
1317358184.533946037 WriteOdom laser_odom_to_init
1317358184.533946037 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358184.637650012
scan registration time 28.807844 ms *************
-----t: 0.0406174
OdomCount 4068 & avg odom time 0.045142 ms ++++++++++++++++++++++
1317358184.637650012 WriteOdom laser_odom_to_init
1317358184.637650012 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.404177 ms 
points size 91692 
sort q time 5.414775 
seperate points time 10.849394 
mapping data assosiation time 35.143925 ms 
-----t: 0.0625184
OdomCount 4069 & avg odom time 0.045147 ms ++++++++++++++++++++++
1317358184.741398096 WriteOdom laser_odom_to_init
1317358184.741398096 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.585992 ms 
filter time 7.596460 ms 
prepare time 10.605039 
sort q time 5.479708 
seperate points time 12.436247 
build tree time 28.704847 ms 
-----t: 0.0390571
OdomCount 4070 & avg odom time 0.045145 ms ++++++++++++++++++++++
mapping data assosiation time 32.498878 ms 
mapping solver time 29.484374 ms 
points size 89685 
sort q time 5.774321 
seperate points time 11.400331 
publication time 6.279598 ms 
whole laserOdometry time 6.294667 ms 
 
-----t: 0.0343404
OdomCount 4071 & avg odom time 0.045143 ms ++++++++++++++++++++++
1317358184.948949098 WriteOdom laser_odom_to_init
1317358184.948949098 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 27.109208 ms 
mapping optimization time 154.345915 
mapping pub time 2.140437 ms 
whole mapping time 168.298958 ms +++++
mappingCount 2683 & avg mapping time 153.476049 ms ++++++++++++++++++++++
build tree time 21.133440 ms 
points size 88774 
sort q time 5.136572 
seperate points time 11.966239 
-----t: 0.0341386
OdomCount 4072 & avg odom time 0.045140 ms ++++++++++++++++++++++
mapping solver time 40.155263 ms 
mapping data assosiation time 27.881185 ms 
points size 88094 
sort q time 5.314675 
seperate points time 11.488708 
filter time 8.943257 ms 
-----t: 0.04299
OdomCount 4073 & avg odom time 0.045139 ms ++++++++++++++++++++++
1317358185.156570911 WriteOdom laser_odom_to_init
1317358185.156570911 WriteOdom aft_mapped_to_init_high_frec
build tree time 27.938438 ms 
--------------------stamp1317358185.260416984
sort q time 5.751210 
seperate points time 10.929481 
publication time 8.948308 ms 
whole laserOdometry time 8.984405 ms 
 
-----t: 0.0400237
OdomCount 4074 & avg odom time 0.045138 ms ++++++++++++++++++++++
mapping data assosiation time 33.271271 ms 
mapping solver time 24.602086 ms 
filter time 8.224996 ms 
map prepare time 2.777999 ms
map corner num 101213  surf num 52248 
publication time 7.524496 ms 
whole laserOdometry time 7.541077 ms 
 
-----t: 0.0416485
OdomCount 4075 & avg odom time 0.045137 ms ++++++++++++++++++++++
mapping data assosiation time 31.839631 ms 
--------------------stamp1317358185.468182086
sort q time 4.680286 
seperate points time 10.658710 
mapping data assosiation time 34.305045 ms 
1317358185.468182086 WriteOdom laser_odom_to_init
mapping solver time 31.363966 ms 
filter time 8.229114 ms 
mapping pub time 7.835571 ms 
whole mapping time 180.549989 ms +++++
mappingCount 2686 & avg mapping time 153.501389 ms ++++++++++++++++++++++
--------------------stamp1317358185.572102069
build tree time 25.922578 ms 
publication time 7.729357 ms 
whole laserOdometry time 7.749587 ms 
 
mapping data assosiation time 35.846411 ms 
mapping solver time 22.248758 ms 
--------------------stamp1317358185.676022052
sort q time 4.979605 
seperate points time 11.046109 
mapping solver time 27.924280 ms 
publication time 8.357522 ms 
whole laserOdometry time 8.370893 ms 
 
1317358185.676022052 WriteOdom laser_odom_to_init
1317358185.676022052 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.757686 ms 
--------------------stamp1317358185.779959917
sort q time 5.896200 
seperate points time 11.752349 
publication time 7.600034 ms 
whole laserOdometry time 7.612390 ms 
 
-----t: 0.0523748
OdomCount 4079 & avg odom time 0.045133 ms ++++++++++++++++++++++
1317358185.779959917 WriteOdom laser_odom_to_init
1317358185.779959917 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 36.220533 ms 
--------------------stamp1317358185.883930921
prepare time 10.983187 
mapping solver time 34.444414 ms 
mapping optimization time 170.672505 
sort q time 4.701022 
-----t: 0.0451902
OdomCount 4080 & avg odom time 0.045133 ms ++++++++++++++++++++++
1317358185.883930921 WriteOdom laser_odom_to_init
1317358185.883930921 WriteOdom aft_mapped_to_init_high_frec
build tree time 27.242726 ms 
publication time 9.102226 ms 
whole laserOdometry time 9.113586 ms 
 
mapping data assosiation time 32.576326 ms 
--------------------stamp1317358185.987920999
sort q time 4.860128 
seperate points time 11.379993 
publication time 7.599245 ms 
whole laserOdometry time 7.612343 ms 
 
mapping data assosiation time 33.762508 ms 
mapping solver time 23.087077 ms 
filter time 7.657942 ms 
--------------------stamp1317358186.091932058
sort q time 4.575844 
seperate points time 10.312259 
scan registration time 21.881816 ms *************
publication time 9.059834 ms 
whole laserOdometry time 9.076055 ms 
 
-----t: 0.0426399
OdomCount 4082 & avg odom time 0.045130 ms ++++++++++++++++++++++
mapping solver time 29.810642 ms 
--------------------stamp1317358186.195924043
mapping data assosiation time 32.099747 ms 
publication time 7.616674 ms 
whole laserOdometry time 7.633376 ms 
 
mapping optimization time 153.148192 
filter time 8.753631 ms 
build tree time 25.552299 ms 
--------------------stamp1317358186.299913883
prepare time 11.242389 
sort q time 4.696305 
seperate points time 11.298893 
publication time 7.226827 ms 
whole laserOdometry time 7.244687 ms 
 
mapping solver time 42.491096 ms 
--------------------stamp1317358186.403930902
points size 81007 
sort q time 4.383583 
seperate points time 10.474682 
publication time 7.674987 ms 
whole laserOdometry time 7.693324 ms 
 
-----t: 0.0530554
OdomCount 4085 & avg odom time 0.045127 ms ++++++++++++++++++++++
build tree time 26.643535 ms 
mapping data assosiation time 30.146261 ms 
sort q time 4.264570 
seperate points time 10.139676 
mapping solver time 36.226407 ms 
-----t: 0.0406573
OdomCount 4086 & avg odom time 0.045126 ms ++++++++++++++++++++++
mapping data assosiation time 33.297515 ms 
mapping solver time 24.030569 ms 
filter time 10.591070 ms 
sort q time 5.886136 
seperate points time 11.028991 
publication time 9.602668 ms 
mapping data assosiation time 31.572955 ms 
mapping solver time 30.018644 ms 
sort q time 4.834530 
seperate points time 9.382086 
publication time 7.779223 ms 
whole laserOdometry time 7.793418 ms 
 
-----t: 0.0381421
OdomCount 4088 & avg odom time 0.045122 ms ++++++++++++++++++++++
mapping optimization time 157.444627 
mapping pub time 1.801920 ms 
whole mapping time 173.103615 ms +++++
mappingCount 2693 & avg mapping time 153.555104 ms ++++++++++++++++++++++
--------------------stamp1317358186.819967985
sort q time 5.370126 
seperate points time 12.424230 
publication time 11.273803 ms 
whole laserOdometry time 11.288334 ms 
 
-----t: 0.0593715
OdomCount 4089 & avg odom time 0.045126 ms ++++++++++++++++++++++
1317358186.819967985 WriteOdom laser_odom_to_init
1317358186.819967985 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 43.811968 ms 
--------------------stamp1317358186.923836946
mapping data assosiation time 31.180331 ms 
sort q time 4.845650 
seperate points time 9.788296 
publication time 8.375789 ms 
whole laserOdometry time 8.394175 ms 
 
mapping solver time 29.818912 ms 
mapping optimization time 166.792000 
add points time 0.799154 ms
map prepare time 2.727853 ms
map corner num 107879  surf num 55152 
build tree time 22.780061 ms 
--------------------stamp1317358187.027780055
sort q time 4.536712 
seperate points time 10.151676 
publication time 7.285478 ms 
whole laserOdometry time 7.302286 ms 
 
mapping solver time 40.745188 ms 
mapping data assosiation time 29.793961 ms 
--------------------stamp1317358187.131725072
filter time 8.360857 ms 
publication time 11.879998 ms 
whole laserOdometry time 11.899390 ms 
 
build tree time 31.592278 ms 
mapping data assosiation time 31.469283 ms 
--------------------stamp1317358187.235667943
mapping solver time 34.393997 ms 
publication time 7.729271 ms 
whole laserOdometry time 7.770749 ms 
 
-----t: 0.0345069
OdomCount 4093 & avg odom time 0.045113 ms ++++++++++++++++++++++
mapping solver time 27.454753 ms 
filter time 7.921863 ms 
map prepare time 2.745625 ms
map corner num 109666  surf num 56009 
points size 85520 
sort q time 5.291458 
seperate points time 11.322277 
publication time 11.426018 ms 
whole laserOdometry time 11.439493 ms 
 
mapping data assosiation time 33.499796 ms 
mapping solver time 29.636573 ms 
--------------------stamp1317358187.443504095
sort q time 5.062831 
seperate points time 10.235794 
publication time 7.864595 ms 
whole laserOdometry time 7.876449 ms 
 
-----t: 0.0340994
OdomCount 4095 & avg odom time 0.045108 ms ++++++++++++++++++++++
filter time 7.875229 ms 
build tree time 23.142397 ms 
--------------------stamp1317358187.547446966
points size 87736 
prepare time 9.270092 
publication time 9.959331 ms 
whole laserOdometry time 9.972540 ms 
 
mapping solver time 40.648708 ms 
mapping data assosiation time 28.948827 ms 
points size 89721 
sort q time 5.267412 
seperate points time 11.609331 
filter time 11.599743 ms 
-----t: 0.0355226
OdomCount 4097 & avg odom time 0.045103 ms ++++++++++++++++++++++
1317358187.651391029 WriteOdom laser_odom_to_init
1317358187.651391029 WriteOdom aft_mapped_to_init_high_frec
build tree time 25.586007 ms 
--------------------stamp1317358187.755309104
sort q time 5.559479 
seperate points time 11.423824 
scan registration time 23.082722 ms *************
publication time 11.222042 ms 
whole laserOdometry time 11.242687 ms 
 
-----t: 0.0438844
OdomCount 4098 & avg odom time 0.045103 ms ++++++++++++++++++++++
mapping data assosiation time 33.364035 ms 
mapping solver time 21.707284 ms 
filter time 9.965427 ms 
map prepare time 4.079245 ms
map corner num 112247  surf num 57110 
sort q time 5.007806 
seperate points time 10.282165 
publication time 7.436108 ms 
whole laserOdometry time 7.453884 ms 
 
build tree time 32.249281 ms 
-----t: 0.0486445
OdomCount 4099 & avg odom time 0.045104 ms ++++++++++++++++++++++
mapping data assosiation time 32.714801 ms 
--------------------stamp1317358187.963144063
points size 93500 
prepare time 8.974325 
publication time 8.303992 ms 
whole laserOdometry time 8.317199 ms 
 
mapping data assosiation time 37.244883 ms 
-----t: 0.0366163
OdomCount 4100 & avg odom time 0.045102 ms ++++++++++++++++++++++
1317358187.963144063 WriteOdom laser_odom_to_init
1317358187.963144063 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 32.199491 ms 
filter time 8.373457 ms 
--------------------stamp1317358188.067061901
build tree time 30.022624 ms 
publication time 10.098691 ms 
whole laserOdometry time 10.116093 ms 
 
mapping data assosiation time 37.171207 ms 
mapping solver time 36.167163 ms 
points size 89765 
sort q time 5.790737 
seperate points time 11.928745 
publication time 8.544290 ms 
whole laserOdometry time 8.559790 ms 
 
-----t: 0.0365779
OdomCount 4102 & avg odom time 0.045096 ms ++++++++++++++++++++++
filter time 8.150223 ms 
--------------------stamp1317358188.274926900
sort q time 5.714333 
seperate points time 11.966290 
publication time 8.685529 ms 
whole laserOdometry time 8.700811 ms 
 
-----t: 0.0395149
OdomCount 4103 & avg odom time 0.045095 ms ++++++++++++++++++++++
--------------------stamp1317358188.378917932
points size 86058 
prepare time 14.240341 
publication time 10.533771 ms 
whole laserOdometry time 10.569517 ms 
 
build tree time 23.157880 ms 
mapping data assosiation time 34.466849 ms 
--------------------stamp1317358188.482933044
mapping solver time 37.279086 ms 
-----t: 0.0349712
OdomCount 4105 & avg odom time 0.045093 ms ++++++++++++++++++++++
mapping data assosiation time 37.795735 ms 
mapping solver time 28.483881 ms 
mapping pub time 1.935556 ms 
whole mapping time 176.782740 ms +++++
mappingCount 2702 & avg mapping time 153.697268 ms ++++++++++++++++++++++
points size 86396 
build tree time 21.732400 ms publication time 9.412913 ms 
whole laserOdometry time 9.428493 ms 
 
-----t: 0.0349694
OdomCount 4106 & avg odom time 0.045091 ms ++++++++++++++++++++++
mapping solver time 29.084757 ms 
points size 86464 
scan registration time 21.140879 ms *************
publication time 8.705609 ms 
whole laserOdometry time 8.718407 ms 
 
mapping optimization time 149.673853 
mapping pub time 2.133564 ms 
whole mapping time 163.703651 ms +++++
mappingCount 2703 & avg mapping time 153.700971 ms ++++++++++++++++++++++
build tree time 18.825750 ms 
--------------------stamp1317358188.795094013
sort q time 5.588202 
seperate points time 10.758429 
publication time 8.375961 ms 
whole laserOdometry time 8.390174 ms 
 
-----t: 0.036487
OdomCount 4108 & avg odom time 0.045087 ms ++++++++++++++++++++++
mapping data assosiation time 31.429277 ms 
mapping solver time 22.452830 ms 
mapping pub time 1.985358 ms 
whole mapping time 155.506327 ms +++++
mappingCount 2704 & avg mapping time 153.701641 ms ++++++++++++++++++++++
sort q time 4.941780 
seperate points time 10.150954 
build tree time 22.471587 ms 
-----t: 0.0450601
OdomCount 4109 & avg odom time 0.045087 ms ++++++++++++++++++++++
--------------------stamp1317358189.003266096
scan registration time 22.830930 ms *************
mapping data assosiation time 34.639056 ms 
mapping solver time 24.377195 ms 
mapping pub time 1.981043 ms 
whole mapping time 171.051277 ms +++++
mappingCount 2705 & avg mapping time 153.708056 ms ++++++++++++++++++++++
build tree time 16.327191 ms 
--------------------stamp1317358189.107331037
sort q time 5.186391 
seperate points time 10.972930 
publication time 8.260014 ms 
whole laserOdometry time 8.275540 ms 
 
-----t: 0.0386461
OdomCount 4111 & avg odom time 0.045082 ms ++++++++++++++++++++++
mapping data assosiation time 29.154416 ms 
--------------------stamp1317358189.211393117
mapping solver time 27.310288 ms 
filter time 8.573242 ms 
publication time 11.557953 ms 
whole laserOdometry time 11.573728 ms 
 
build tree time 25.632985 ms 
mapping data assosiation time 29.491859 ms 
--------------------stamp1317358189.315429925
mapping solver time 33.699111 ms 
publication time 7.882744 ms 
whole laserOdometry time 7.891926 ms 
 
mapping data assosiation time 33.923505 ms 
mapping solver time 28.205308 ms 
mapping pub time 1.965669 ms 
whole mapping time 166.107056 ms +++++
mappingCount 2707 & avg mapping time 153.714999 ms ++++++++++++++++++++++
points size 94635 
sort q time 5.449111 
seperate points time 11.317309 
publication time 10.721587 ms 
whole laserOdometry time 10.737373 ms 
 
mapping solver time 28.706502 ms 
--------------------stamp1317358189.523437023
prepare time 12.118181 
sort q time 5.356995 
seperate points time 13.030829 
scan registration time 31.273008 ms *************
mapping solver time 26.012536 ms 
mapping optimization time 145.491354 
add points time 0.792243 ms
mapping pub time 2.118390 ms 
whole mapping time 160.143379 ms +++++
mappingCount 2708 & avg mapping time 153.717375 ms ++++++++++++++++++++++
build tree time 17.904259 ms 
mapping data assosiation time 27.906251 ms 
points size 97587 
sort q time 5.451910 
seperate points time 11.387401 
-----t: 0.0343116
OdomCount 4116 & avg odom time 0.045076 ms ++++++++++++++++++++++
mapping data assosiation time 31.562667 ms 
mapping solver time 21.229394 ms 
mapping optimization time 134.840089 
add points time 0.971126 ms
map prepare time 2.958986 ms
map corner num 84892  surf num 43196 
points size 101346 
build tree time 22.016948 ms 
publication time 8.645705 ms 
whole laserOdometry time 8.662024 ms 
 
mapping solver time 27.645805 ms 
--------------------stamp1317358189.835339069
prepare time 11.829029 
sort q time 6.835426 
seperate points time 13.439832 
scan registration time 30.723140 ms *************
publication time 8.361090 ms 
whole laserOdometry time 8.376196 ms 
 
map prepare time 2.918998 ms
map corner num 85654  surf num 43532 
build tree time 17.809531 ms 
--------------------stamp1317358189.939284086
prepare time 13.107533 
sort q time 5.947647 
seperate points time 13.661176 
publication time 8.527180 ms 
whole laserOdometry time 8.542432 ms 
 
-----t: 0.051772
OdomCount 4119 & avg odom time 0.045075 ms ++++++++++++++++++++++
mapping solver time 22.728336 ms 
filter time 9.311832 ms 
prepare time 14.504276 
sort q time 5.448466 
seperate points time 13.476635 
publication time 10.871107 ms 
whole laserOdometry time 10.887286 ms 
 
mapping data assosiation time 34.163464 ms 
--------------------stamp1317358190.147140979
sort q time 6.039255 
seperate points time 13.847647 
1317358190.147140979 WriteOdom laser_odom_to_init
1317358190.147140979 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 33.123534 ms 
filter time 6.851545 ms 
--------------------stamp1317358190.251107931
points size 93949 
build tree time 26.347409 ms 
prepare time 12.349313 
scan registration time 33.196573 ms *************
mapping data assosiation time 35.628199 ms 
mapping solver time 29.612596 ms 
--------------------stamp1317358190.355099916
points size 91565 
sort q time 4.988261 
seperate points time 12.291208 
scan registration time 31.740514 ms *************
mapping solver time 27.848739 ms 
mapping optimization time 153.851840 
add points time 1.493134 ms
1317358190.043200970 WriteOdom aft_mapped_to_init
-----t: 0.044102
OdomCount 4123 & avg odom time 0.045075 ms ++++++++++++++++++++++
build tree time 23.543428 ms 
--------------------stamp1317358190.459115028
sort q time 4.972163 
seperate points time 10.990437 
scan registration time 25.998330 ms *************
-----t: 0.0325951
OdomCount 4124 & avg odom time 0.045072 ms ++++++++++++++++++++++
mapping data assosiation time 30.508821 ms 
mapping solver time 20.361066 ms 
filter time 6.991455 ms 
points size 85507 
sort q time 4.702460 
seperate points time 11.218577 
publication time 8.150560 ms 
whole laserOdometry time 8.162101 ms 
 
mapping data assosiation time 32.585336 ms 
mapping solver time 25.123502 ms 
--------------------stamp1317358190.667120933
sort q time 4.379686 
seperate points time 9.994055 
add points time 1.158118 ms
publication time 8.628757 ms 
whole laserOdometry time 8.645738 ms 
 
build tree time 20.896377 ms 
mapping data assosiation time 26.885429 ms 
points size 78605 
sort q time 4.843355 
seperate points time 9.379692 
publication time 7.896454 ms 
whole laserOdometry time 7.922015 ms 
 
-----t: 0.0345066
OdomCount 4127 & avg odom time 0.045062 ms ++++++++++++++++++++++
mapping solver time 19.230783 ms 
filter time 7.276948 ms 
--------------------stamp1317358190.875124931
sort q time 4.408709 
seperate points time 10.154945 
publication time 8.512518 ms 
whole laserOdometry time 8.523836 ms 
 
-----t: 0.046299
OdomCount 4128 & avg odom time 0.045063 ms ++++++++++++++++++++++
mapping solver time 30.950475 ms 
mapping data assosiation time 31.844615 ms 
sort q time 4.171145 
seperate points time 10.281271 
mapping optimization time 146.380579 
filter time 9.670770 ms 
-----t: 0.0556619
OdomCount 4129 & avg odom time 0.045065 ms ++++++++++++++++++++++
--------------------stamp1317358191.083275079
sort q time 4.632065 
seperate points time 11.048446 
scan registration time 22.665574 ms *************
publication time 9.129444 ms 
whole laserOdometry time 9.142040 ms 
 
1317358191.083275079 WriteOdom laser_odom_to_init
1317358191.083275079 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 29.152416 ms 
mapping solver time 20.938688 ms 
filter time 7.448354 ms 
sort q time 5.134563 
seperate points time 10.345560 
build tree time 27.208156 ms 
-----t: 0.0321194
OdomCount 4131 & avg odom time 0.045060 ms ++++++++++++++++++++++
mapping data assosiation time 35.524470 ms 
--------------------stamp1317358191.291591882
points size 90159 
prepare time 8.341212 
publication time 9.282798 ms 
whole laserOdometry time 9.298082 ms 
 
mapping solver time 26.888271 ms 
filter time 9.208847 ms 
--------------------stamp1317358191.395751953
sort q time 6.096230 
seperate points time 11.601823 
mapping data assosiation time 34.502127 ms 
mapping solver time 32.731317 ms 
--------------------stamp1317358191.499910116
points size 93796 
sort q time 5.077135 
seperate points time 11.946543 
mapping solver time 39.091322 ms 
mapping pub time 2.003372 ms 
whole mapping time 177.359171 ms +++++
mappingCount 2720 & avg mapping time 153.756900 ms ++++++++++++++++++++++
-----t: 0.0536964
OdomCount 4134 & avg odom time 0.045061 ms ++++++++++++++++++++++
build tree time 22.810811 ms 
--------------------stamp1317358191.604046106
prepare time 10.932976 
sort q time 5.231308 
seperate points time 12.570393 
publication time 8.253693 ms 
whole laserOdometry time 8.269134 ms 
 
mapping solver time 39.933927 ms 
mapping data assosiation time 31.418837 ms 
--------------------stamp1317358191.708157062
points size 96517 
sort q time 6.109581 
seperate points time 13.214818 
publication time 8.580682 ms 
whole laserOdometry time 8.594586 ms 
 
-----t: 0.0756478
OdomCount 4136 & avg odom time 0.045065 ms ++++++++++++++++++++++
--------------------stamp1317358191.812242031
points size 96419 
sort q time 6.277401 
seperate points time 16.133179 
publication time 11.518816 ms 
whole laserOdometry time 11.547351 ms 
 
mapping pub time 172.460519 ms 
whole mapping time 349.223800 ms +++++
mappingCount 2721 & avg mapping time 153.828738 ms ++++++++++++++++++++++
--------------------stamp1317358191.916302919
build tree time 28.489833 ms 
publication time 10.859293 ms 
whole laserOdometry time 10.875486 ms 
 
mapping solver time 31.729912 ms 
--------------------stamp1317358192.020368099
prepare time 10.084457 
sort q time 5.862324 
seperate points time 13.314823 
publication time 9.842092 ms 
whole laserOdometry time 9.864437 ms 
 
add points time 1.146212 ms
mapping pub time 2.316706 ms 
whole mapping time 178.304386 ms +++++
mappingCount 2722 & avg mapping time 153.837735 ms ++++++++++++++++++++++
build tree time 22.186692 ms 
points size 98074 
mapping data assosiation time 38.910379 ms 
-----t: 0.0422046
OdomCount 4140 & avg odom time 0.045068 ms ++++++++++++++++++++++
mapping solver time 39.510229 ms 
mapping data assosiation time 30.214966 ms 
points size 98982 
sort q time 5.505590 
seperate points time 12.731982 
mapping solver time 36.763620 ms 
filter time 8.995747 ms 
-----t: 0.0441466
OdomCount 4141 & avg odom time 0.045068 ms ++++++++++++++++++++++
build tree time 23.506986 ms 
--------------------stamp1317358192.332434892
prepare time 11.439023 
sort q time 5.909103 
seperate points time 12.040772 
publication time 7.846654 ms 
whole laserOdometry time 7.861902 ms 
 
-----t: 0.0424967
OdomCount 4142 & avg odom time 0.045067 ms ++++++++++++++++++++++
1317358192.332434892 WriteOdom laser_odom_to_init
1317358192.332434892 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 31.255159 ms 
mapping solver time 21.855877 ms 
points size 101440 
map prepare time 4.130786 ms
map corner num 98988  surf num 49941 
scan registration time 29.744636 ms *************
build tree time 27.246786 ms 
-----t: 0.0597891
OdomCount 4143 & avg odom time 0.045070 ms ++++++++++++++++++++++
--------------------stamp1317358192.540321111
points size 101728 
sort q time 5.623956 
seperate points time 12.909747 
publication time 9.173235 ms 
whole laserOdometry time 9.189723 ms 
 
-----t: 0.0553795
OdomCount 4144 & avg odom time 0.045073 ms ++++++++++++++++++++++
1317358192.540321111 WriteOdom laser_odom_to_init
1317358192.540321111 WriteOdom aft_mapped_to_init_high_frec
filter time 7.432548 ms 
--------------------stamp1317358192.644217967
prepare time 12.333504 
build tree time 26.387103 ms 
publication time 8.640779 ms 
whole laserOdometry time 8.673207 ms 
 
-----t: 0.0390212
OdomCount 4145 & avg odom time 0.045071 ms ++++++++++++++++++++++
1317358192.644217967 WriteOdom laser_odom_to_init
1317358192.644217967 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.259541 ms 
--------------------stamp1317358192.748039960
prepare time 10.372904 
sort q time 6.035445 
seperate points time 12.744407 
publication time 8.614310 ms 
whole laserOdometry time 8.632558 ms 
 
mapping solver time 35.119608 ms 
filter time 8.006116 ms 
1317358192.436400890 WriteOdom aft_mapped_to_init
--------------------stamp1317358192.851814031
points size 101642 
sort q time 18.401545 
seperate points time 25.311977 
-----t: 0.0407314
OdomCount 4147 & avg odom time 0.045069 ms ++++++++++++++++++++++
mapping solver time 37.794339 ms 
--------------------stamp1317358192.955563068
mapping data assosiation time 34.992196 ms 
sort q time 6.632885 
seperate points time 13.269644 
publication time 8.952025 ms 
whole laserOdometry time 8.966038 ms 
 
filter time 9.945298 ms 
build tree time 28.381464 ms 
--------------------stamp1317358193.059290885
mapping data assosiation time 43.326550 ms 
sort q time 6.172475 
seperate points time 12.930126 
mapping solver time 37.808079 ms 
mapping pub time 2.354191 ms 
whole mapping time 203.173535 ms +++++
mappingCount 2728 & avg mapping time 153.908274 ms ++++++++++++++++++++++
-----t: 0.0709839
OdomCount 4150 & avg odom time 0.045081 ms ++++++++++++++++++++++
build tree time 28.568653 ms 
points size 102373 
sort q time 6.167597 
seperate points time 13.701714 
publication time 14.921176 ms 
whole laserOdometry time 14.933923 ms 
 
mapping solver time 43.299121 ms 
mapping data assosiation time 31.284492 ms 
points size 102549 
sort q time 6.197434 
seperate points time 12.386099 
filter time 10.405152 ms 
1317358193.370568990 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.496079 ms 
--------------------stamp1317358193.474319934
prepare time 13.197338 
sort q time 6.374218 
seperate points time 13.445966 
publication time 9.067686 ms 
whole laserOdometry time 9.083064 ms 
 
mapping data assosiation time 36.746442 ms 
-----t: 0.0662825
OdomCount 4153 & avg odom time 0.045087 ms ++++++++++++++++++++++
mapping solver time 21.624014 ms 
filter time 7.694993 ms 
points size 102220 
sort q time 5.529245 
seperate points time 12.353968 
publication time 8.573502 ms 
whole laserOdometry time 8.590472 ms 
 
-----t: 0.0526286
OdomCount 4154 & avg odom time 0.045089 ms ++++++++++++++++++++++
--------------------stamp1317358193.681893110
prepare time 11.941468 
sort q time 6.026135 
seperate points time 13.229546 
mapping data assosiation time 36.347193 ms 
-----t: 0.0436349
OdomCount 4155 & avg odom time 0.045089 ms ++++++++++++++++++++++
1317358193.681893110 WriteOdom laser_odom_to_init
1317358193.681893110 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.847800 ms 
mapping optimization time 158.699538 
add points time 0.837181 ms
[0m[ INFO] [1718890276.656257081, 1317358193.754986417]: Received 159493 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890276.656298400, 1317358193.754986417]: Data saved to 1317358193370568.pcd[0m
--------------------stamp1317358193.785691976
prepare time 11.180255 
sort q time 6.015822 
seperate points time 18.590675 
publication time 8.906933 ms 
whole laserOdometry time 8.920766 ms 
 
1317358193.785691976 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 35.331630 ms 
--------------------stamp1317358193.889466047
prepare time 11.428646 
sort q time 5.846227 
seperate points time 14.262811 
mapping solver time 33.178599 ms 
mapping optimization time 162.148801 
add points time 0.921351 ms
map prepare time 4.118538 ms
map corner num 107096  surf num 54038 
-----t: 0.0540906
OdomCount 4157 & avg odom time 0.045090 ms ++++++++++++++++++++++
build tree time 24.013282 ms 
--------------------stamp1317358193.993266105
sort q time 5.809281 
seperate points time 13.738598 
mapping solver time 32.112549 ms 
publication time 18.561381 ms 
whole laserOdometry time 18.573997 ms 
 
mapping data assosiation time 34.994756 ms 
mapping solver time 22.305848 ms 
filter time 10.233295 ms 
sort q time 5.824093 
seperate points time 14.854909 
build tree time 27.502783 ms 
-----t: 0.0455041
OdomCount 4159 & avg odom time 0.045091 ms ++++++++++++++++++++++
--------------------stamp1317358194.200887918
prepare time 12.926185 
publication time 14.649685 ms 
whole laserOdometry time 14.673726 ms 
 
mapping optimization time 161.773135 
filter time 7.735114 ms 
map prepare time 3.190352 ms
map corner num 109067  surf num 55232 
points size 100010 
sort q time 5.913500 
seperate points time 20.089959 
publication time 9.128624 ms 
whole laserOdometry time 9.161554 ms 
 
mapping solver time 32.032995 ms 
--------------------stamp1317358194.408437013
mapping data assosiation time 31.269170 ms 
sort q time 5.721254 
seperate points time 12.651716 
mapping solver time 34.856204 ms 
filter time 10.575057 ms 
build tree time 24.579684 ms 
--------------------stamp1317358194.512188911
sort q time 5.097596 
seperate points time 11.717695 
publication time 8.231183 ms 
whole laserOdometry time 8.247373 ms 
 
mapping solver time 31.916808 ms 
mapping data assosiation time 33.285251 ms 
--------------------stamp1317358194.615915060
mapping optimization time 147.688859 
filter time 8.684332 ms 
map prepare time 4.547497 ms
map corner num 111003  surf num 56370 
publication time 11.355677 ms 
whole laserOdometry time 11.369134 ms 
 
build tree time 32.725907 ms 
--------------------stamp1317358194.719618082
sort q time 5.772584 
seperate points time 12.595866 
mapping solver time 42.715613 ms 
-----t: 0.0455826
OdomCount 4165 & avg odom time 0.045095 ms ++++++++++++++++++++++
mapping data assosiation time 38.477293 ms 
--------------------stamp1317358194.823344945
points size 94717 
mapping solver time 43.165764 ms 
filter time 12.057032 ms 
publication time 11.085952 ms 
whole laserOdometry time 11.100533 ms 
 
build tree time 34.681778 ms 
--------------------stamp1317358194.927093982
prepare time 9.493869 
sort q time 5.738901 
seperate points time 12.566075 
publication time 10.818363 ms 
whole laserOdometry time 10.854107 ms 
 
mapping data assosiation time 37.437386 ms 
--------------------stamp1317358195.030821084
mapping solver time 30.186981 ms 
mapping pub time 2.363908 ms 
whole mapping time 197.377927 ms +++++
mappingCount 2738 & avg mapping time 154.007133 ms ++++++++++++++++++++++
publication time 12.205711 ms 
whole laserOdometry time 12.219609 ms 
 
-----t: 0.0429435
OdomCount 4168 & avg odom time 0.045092 ms ++++++++++++++++++++++
build tree time 29.892987 ms 
mapping data assosiation time 29.855831 ms 
points size 92756 
sort q time 5.354784 
seperate points time 12.838721 
mapping solver time 38.518940 ms 
1317358195.134572982 WriteOdom laser_odom_to_init
mapping data assosiation time 33.302029 ms 
mapping solver time 27.701046 ms 
--------------------stamp1317358195.238347053
map prepare time 4.554282 ms
map corner num 113774  surf num 57665 
sort q time 5.126040 
seperate points time 11.499774 
scan registration time 23.503805 ms *************
publication time 9.897928 ms 
whole laserOdometry time 9.915962 ms 
 
-----t: 0.037558
OdomCount 4170 & avg odom time 0.045089 ms ++++++++++++++++++++++
mapping data assosiation time 30.255055 ms 
--------------------stamp1317358195.342119932
prepare time 9.866057 
sort q time 5.310967 
seperate points time 10.701257 
scan registration time 25.635658 ms *************
mapping data assosiation time 35.343523 ms 
-----t: 0.0615151
OdomCount 4171 & avg odom time 0.045092 ms ++++++++++++++++++++++
filter time 7.997092 ms 
--------------------stamp1317358195.445919036
prepare time 12.757053 
sort q time 5.308607 
seperate points time 12.593016 
publication time 9.079685 ms 
whole laserOdometry time 9.095404 ms 
 
mapping solver time 30.231607 ms 
--------------------stamp1317358195.549742937
mapping data assosiation time 33.599683 ms 
publication time 8.434042 ms 
whole laserOdometry time 8.447332 ms 
 
mapping solver time 32.189990 ms 
filter time 8.774427 ms 
--------------------stamp1317358195.653541088
prepare time 13.553536 
sort q time 5.361801 
seperate points time 12.831634 
publication time 8.939137 ms 
whole laserOdometry time 8.954039 ms 
 
-----t: 0.0577544
OdomCount 4174 & avg odom time 0.045093 ms ++++++++++++++++++++++
--------------------stamp1317358195.757339954
points size 95849 
map prepare time 3.798786 ms
map corner num 115860  surf num 58711 
sort q time 15.590353 
seperate points time 23.540994 
-----t: 0.0518822
OdomCount 4175 & avg odom time 0.045095 ms ++++++++++++++++++++++
1317358195.757339954 WriteOdom laser_odom_to_init
1317358195.757339954 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358195.861186027
mapping solver time 26.969242 ms 
sort q time 6.131005 
seperate points time 14.396338 
mapping data assosiation time 35.756220 ms 
-----t: 0.0495093
OdomCount 4176 & avg odom time 0.045096 ms ++++++++++++++++++++++
mapping optimization time 155.894094 
filter time 10.791947 ms 
--------------------stamp1317358195.965032100
prepare time 11.537830 
build tree time 32.705110 ms 
publication time 11.759316 ms 
whole laserOdometry time 11.773432 ms 
 
mapping solver time 28.521206 ms 
--------------------stamp1317358196.068902015
sort q time 5.100883 
seperate points time 11.233433 
mapping solver time 26.532072 ms 
filter time 10.926772 ms 
build tree time 26.277702 ms 
--------------------stamp1317358196.172797918
points size 94009 
sort q time 5.126611 
seperate points time 12.769410 
mapping solver time 33.105346 ms 
mapping data assosiation time 29.317622 ms 
mapping solver time 17.418314 ms 
filter time 9.137882 ms 
points size 94835 
sort q time 5.097468 
seperate points time 12.337605 
build tree time 32.522763 ms 
-----t: 0.0386966
OdomCount 4180 & avg odom time 0.045091 ms ++++++++++++++++++++++
mapping data assosiation time 28.282187 ms 
mapping solver time 26.743352 ms 
--------------------stamp1317358196.380660057
prepare time 11.487194 
mapping data assosiation time 29.114602 ms 
mapping solver time 19.865660 ms 
mapping optimization time 137.926901 
add points time 1.039144 ms
publication time 10.044187 ms 
whole laserOdometry time 10.062367 ms 
 
map prepare time 3.124898 ms
map corner num 119932  surf num 60013 
build tree time 26.976819 ms 
--------------------stamp1317358196.484602928
prepare time 10.775374 
sort q time 5.487964 
seperate points time 11.162742 
publication time 9.532846 ms 
whole laserOdometry time 9.546262 ms 
 
-----t: 0.0370931
OdomCount 4182 & avg odom time 0.045087 ms ++++++++++++++++++++++
mapping data assosiation time 25.226312 ms 
mapping optimization time 141.719545 
filter time 9.488625 ms 
map prepare time 4.334728 ms
map corner num 120754  surf num 60230 
publication time 8.448012 ms 
whole laserOdometry time 8.463080 ms 
 
-----t: 0.0447697
OdomCount 4183 & avg odom time 0.045087 ms ++++++++++++++++++++++
1317358196.588572025 WriteOdom laser_odom_to_init
1317358196.588572025 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.116893 ms 
--------------------stamp1317358196.692536115
points size 87918 
sort q time 5.830099 
seperate points time 14.094708 
mapping solver time 24.122582 ms 
filter time 11.677161 ms 
--------------------stamp1317358196.796525955
prepare time 11.017826 
sort q time 5.741440 
seperate points time 13.792812 
publication time 9.864369 ms 
whole laserOdometry time 9.879873 ms 
 
-----t: 0.0431515
OdomCount 4185 & avg odom time 0.045089 ms ++++++++++++++++++++++
mapping data assosiation time 24.330392 ms 
--------------------stamp1317358196.900518894
points size 88526 
sort q time 5.041191 
seperate points time 12.156263 
map prepare time 3.620247 ms
map corner num 109163  surf num 47330 
publication time 11.094634 ms 
whole laserOdometry time 11.103731 ms 
 
build tree time 28.514842 ms 
mapping data assosiation time 24.429316 ms 
--------------------stamp1317358197.004508018
mapping solver time 30.453769 ms 
scan registration time 26.969872 ms *************
publication time 9.802580 ms 
whole laserOdometry time 9.815937 ms 
 
-----t: 0.0450072
OdomCount 4187 & avg odom time 0.045089 ms ++++++++++++++++++++++
mapping solver time 25.698608 ms 
filter time 9.729501 ms 
--------------------stamp1317358197.108477115
build tree time 27.611573 ms 
publication time 9.104660 ms 
whole laserOdometry time 9.120315 ms 
 
-----t: 0.0396633
OdomCount 4188 & avg odom time 0.045087 ms ++++++++++++++++++++++
mapping solver time 29.245416 ms 
mapping data assosiation time 26.590660 ms 
points size 90833 
mapping solver time 23.878418 ms 
filter time 10.505278 ms 
-----t: 0.0383056
OdomCount 4189 & avg odom time 0.045086 ms ++++++++++++++++++++++
build tree time 26.266573 ms 
mapping data assosiation time 22.191723 ms 
--------------------stamp1317358197.316286087
sort q time 5.316485 
seperate points time 10.574474 
mapping data assosiation time 27.112618 ms 
mapping solver time 19.624754 ms 
filter time 10.223736 ms 
[0m[ INFO] [1718890280.282729955, 1317358197.383547967]: Received 159646 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890280.282771007, 1317358197.383547967]: Data saved to 1317358197108477.pcd[0m
mapping pub time 4.421518 ms 
whole mapping time 137.280123 ms +++++
mappingCount 2751 & avg mapping time 154.110916 ms ++++++++++++++++++++++
1317358197.108477116 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358197.420160055
prepare time 9.045160 
sort q time 5.383304 
seperate points time 11.415366 
scan registration time 22.507558 ms *************
-----t: 0.0442966
OdomCount 4191 & avg odom time 0.045085 ms ++++++++++++++++++++++
1317358197.420160055 WriteOdom laser_odom_to_init
1317358197.420160055 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.772500 ms 
mapping data assosiation time 29.461337 ms 
--------------------stamp1317358197.524030923
prepare time 10.691797 
sort q time 5.189671 
seperate points time 11.947777 
1317358197.212393045 WriteOdom aft_mapped_to_init
-----t: 0.0423883
OdomCount 4192 & avg odom time 0.045084 ms ++++++++++++++++++++++
1317358197.524030923 WriteOdom laser_odom_to_init
1317358197.524030923 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.692074 ms 
points size 91765 
sort q time 5.357100 
seperate points time 12.383753 
publication time 10.688275 ms 
whole laserOdometry time 10.703591 ms 
 
mapping data assosiation time 28.979727 ms 
mapping solver time 20.231333 ms 
filter time 11.594932 ms 
mapping pub time 2.194557 ms 
whole mapping time 162.791223 ms +++++
mappingCount 2753 & avg mapping time 154.119794 ms ++++++++++++++++++++++
1317358197.420160055 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 92497 
build tree time 32.766972 ms 
publication time 11.449764 ms 
whole laserOdometry time 11.466871 ms 
 
-----t: 0.0536308
OdomCount 4194 & avg odom time 0.045087 ms ++++++++++++++++++++++
mapping solver time 25.878316 ms 
--------------------stamp1317358197.835690975
points size 93975 
sort q time 5.161639 
seperate points time 12.916998 
scan registration time 31.368594 ms *************
mapping solver time 20.331711 ms 
mapping optimization time 138.505430 
add points time 0.936205 ms
publication time 11.715187 ms 
whole laserOdometry time 11.739399 ms 
 
-----t: 0.0433707
OdomCount 4195 & avg odom time 0.045087 ms ++++++++++++++++++++++
build tree time 32.189405 ms 
--------------------stamp1317358197.939560890
mapping data assosiation time 27.290188 ms 
sort q time 5.715865 
seperate points time 12.796270 
mapping solver time 30.253937 ms 
-----t: 0.0387748
OdomCount 4196 & avg odom time 0.045085 ms ++++++++++++++++++++++
1317358197.939560890 WriteOdom laser_odom_to_init
1317358197.939560890 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.606137 ms 
mapping solver time 19.580421 ms 
filter time 7.799674 ms 
points size 95505 
sort q time 5.361581 
seperate points time 12.697914 
publication time 9.508535 ms 
whole laserOdometry time 9.522678 ms 
 
-----t: 0.0397659
OdomCount 4197 & avg odom time 0.045084 ms ++++++++++++++++++++++
mapping solver time 19.504520 ms 
mapping data assosiation time 22.349858 ms 
points size 95575 
filter time 10.831403 ms 
map prepare time 3.726921 ms
map corner num 115379  surf num 48898 
-----t: 0.0457321
OdomCount 4198 & avg odom time 0.045084 ms ++++++++++++++++++++++
mapping data assosiation time 22.903389 ms 
--------------------stamp1317358198.251295089
prepare time 11.396341 
mapping solver time 26.095647 ms 
sort q time 6.442312 
seperate points time 13.732309 
mapping optimization time 127.284935 
add points time 0.900802 ms
-----t: 0.0439369
OdomCount 4199 & avg odom time 0.045084 ms ++++++++++++++++++++++
1317358198.251295089 WriteOdom laser_odom_to_init
1317358198.251295089 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.924601 ms
map corner num 116206  surf num 49227 
--------------------stamp1317358198.355237960
prepare time 10.742961 
sort q time 5.936457 
seperate points time 12.179341 
publication time 8.582858 ms 
whole laserOdometry time 8.621302 ms 
 
-----t: 0.0393901
OdomCount 4200 & avg odom time 0.045083 ms ++++++++++++++++++++++
mapping data assosiation time 27.723261 ms 
--------------------stamp1317358198.459178924
filter time 10.218080 ms 
publication time 10.072447 ms 
whole laserOdometry time 10.105879 ms 
 
build tree time 31.281765 ms 
-----t: 0.0518368
OdomCount 4201 & avg odom time 0.045084 ms ++++++++++++++++++++++
mapping solver time 23.148365 ms 
points size 96812 
mapping data assosiation time 25.502757 ms 
mapping solver time 24.018926 ms 
filter time 9.882657 ms 
publication time 14.614576 ms 
whole laserOdometry time 14.622749 ms 
 
mapping pub time 2.212552 ms 
whole mapping time 147.105524 ms +++++
mappingCount 2759 & avg mapping time 154.104881 ms ++++++++++++++++++++++
1317358198.355237961 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.116010 ms
map corner num 117743  surf num 49771 
build tree time 23.188764 ms 
--------------------stamp1317358198.667089939
prepare time 14.166248 
sort q time 5.491225 
seperate points time 13.709459 
publication time 11.502440 ms 
whole laserOdometry time 11.522586 ms 
 
mapping solver time 15.235937 ms 
filter time 10.471577 ms 
--------------------stamp1317358198.771033048
points size 98247 
prepare time 13.014685 
sort q time 5.807551 
seperate points time 14.532810 
mapping data assosiation time 26.322565 ms 
publication time 9.169033 ms 
whole laserOdometry time 9.182933 ms 
 
-----t: 0.0538991
OdomCount 4204 & avg odom time 0.045090 ms ++++++++++++++++++++++
mapping data assosiation time 23.373940 ms 
points size 97196 
sort q time 6.264517 
seperate points time 12.054910 
filter time 11.372814 ms 
-----t: 0.0437138
OdomCount 4205 & avg odom time 0.045090 ms ++++++++++++++++++++++
--------------------stamp1317358198.978941917
prepare time 12.734971 
sort q time 5.190907 
seperate points time 12.808408 
publication time 13.198458 ms 
whole laserOdometry time 13.223328 ms 
 
mapping pub time 155.718010 ms 
whole mapping time 308.634804 ms +++++
mappingCount 2761 & avg mapping time 154.153244 ms ++++++++++++++++++++++
1317358198.667089939 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 2.846884 ms
map corner num 119131  surf num 50196 
points size 90768 
build tree time 28.543112 ms 
publication time 11.885334 ms 
whole laserOdometry time 12.150592 ms 
 
mapping solver time 22.592637 ms 
mapping data assosiation time 22.381216 ms 
points size 89032 
filter time 8.112292 ms 
build tree time 27.358245 ms 
-----t: 0.0609916
OdomCount 4208 & avg odom time 0.045092 ms ++++++++++++++++++++++
--------------------stamp1317358199.290939092
mapping data assosiation time 25.096594 ms 
mapping solver time 22.738673 ms 
filter time 8.211132 ms 
build tree time 28.001655 ms 
points size 87043 
mapping data assosiation time 26.503829 ms 
publication time 8.375062 ms 
whole laserOdometry time 8.387015 ms 
 
-----t: 0.0406129
OdomCount 4210 & avg odom time 0.045090 ms ++++++++++++++++++++++
mapping data assosiation time 24.876550 ms 
mapping solver time 15.542000 ms 
filter time 10.225592 ms 
points size 85273 
sort q time 5.070063 
seperate points time 10.894718 
build tree time 29.851739 ms 
-----t: 0.0419431
OdomCount 4211 & avg odom time 0.045089 ms ++++++++++++++++++++++
mapping solver time 17.172749 ms 
mapping data assosiation time 20.007205 ms 
points size 85896 
sort q time 5.301132 
seperate points time 11.328731 
scan registration time 20.612665 ms *************
filter time 9.845164 ms 
mapping pub time 2.091654 ms 
whole mapping time 130.357791 ms +++++
mappingCount 2765 & avg mapping time 154.128643 ms ++++++++++++++++++++++
1317358199.394953966 WriteOdom aft_mapped_to_init
-----t: 0.0331133
OdomCount 4212 & avg odom time 0.045086 ms ++++++++++++++++++++++
build tree time 27.516159 ms 
mapping data assosiation time 19.983782 ms 
mapping solver time 18.866903 ms 
points size 85593 
mapping data assosiation time 23.044733 ms 
sort q time 4.675892 
seperate points time 11.413593 
publication time 9.009371 ms 
whole laserOdometry time 9.025572 ms 
 
1317358199.498919964 WriteOdom aft_mapped_to_init
1317358199.706923007 WriteOdom laser_odom_to_init
drop lidar frame in mapping for real time performance 
1317358199.706923007 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.729507 ms
map corner num 122506  surf num 51113 
build tree time 26.080338 ms 
mapping data assosiation time 23.313115 ms 
sort q time 4.149847 
seperate points time 8.971412 
publication time 10.762292 ms 
whole laserOdometry time 10.779205 ms 
 
-----t: 0.049967
OdomCount 4214 & avg odom time 0.045085 ms ++++++++++++++++++++++
mapping solver time 16.765831 ms 
filter time 8.613656 ms 
--------------------stamp1317358199.914932012
build tree time 29.438477 ms 
mapping data assosiation time 24.354671 ms 
-----t: 0.0378545
OdomCount 4215 & avg odom time 0.045084 ms ++++++++++++++++++++++
1317358199.914932012 WriteOdom laser_odom_to_init
1317358199.914932012 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 19.623120 ms 
mapping solver time 17.822141 ms 
filter time 11.365443 ms 
sort q time 5.117714 
seperate points time 11.381290 
publication time 8.409642 ms 
whole laserOdometry time 8.433584 ms 
 
build tree time 33.320792 ms 
-----t: 0.044879
OdomCount 4216 & avg odom time 0.045084 ms ++++++++++++++++++++++
1317358200.018922090 WriteOdom laser_odom_to_init
1317358200.018922090 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.253442 ms 
--------------------stamp1317358200.122910976
mapping data assosiation time 25.053016 ms 
mapping solver time 22.102269 ms 
filter time 12.430044 ms 
-----t: 0.040511
OdomCount 4217 & avg odom time 0.045083 ms ++++++++++++++++++++++
build tree time 32.107515 ms 
--------------------stamp1317358200.226877927
mapping data assosiation time 24.342545 ms 
sort q time 4.697651 
seperate points time 10.267447 
scan registration time 20.536359 ms *************
publication time 9.638018 ms 
whole laserOdometry time 9.651939 ms 
 
mapping data assosiation time 23.979756 ms 
mapping solver time 13.750608 ms 
filter time 8.464440 ms 
--------------------stamp1317358200.330846071
sort q time 4.885913 
seperate points time 11.024581 
publication time 8.432220 ms 
whole laserOdometry time 8.451091 ms 
 
mapping solver time 20.434977 ms 
mapping data assosiation time 20.046808 ms 
--------------------stamp1317358200.434813976
filter time 8.717358 ms 
map prepare time 3.702985 ms
map corner num 126019  surf num 52234 
publication time 11.171879 ms 
whole laserOdometry time 11.188967 ms 
 
build tree time 34.755702 ms 
mapping data assosiation time 23.468232 ms 
mapping solver time 16.744634 ms 
points size 90618 
mapping data assosiation time 23.575600 ms 
mapping solver time 16.186404 ms 
filter time 12.013925 ms 
build tree time 26.230644 ms 
--------------------stamp1317358200.642721891
prepare time 11.509646 
sort q time 5.702027 
seperate points time 11.936846 
publication time 9.701903 ms 
whole laserOdometry time 9.713682 ms 
 
-----t: 0.040855
OdomCount 4222 & avg odom time 0.045075 ms ++++++++++++++++++++++
1317358200.642721891 WriteOdom laser_odom_to_init
1317358200.642721891 WriteOdom aft_mapped_to_init_high_frec
filter time 8.206324 ms 
mapping pub time 2.135419 ms 
whole mapping time 129.576001 ms +++++
mappingCount 2773 & avg mapping time 154.070855 ms ++++++++++++++++++++++
1317358200.434813976 WriteOdom aft_mapped_to_init
--------------------stamp1317358200.746640920
build tree time 30.317931 ms 
scan registration time 26.842239 ms *************
publication time 7.253628 ms 
whole laserOdometry time 7.268281 ms 
 
mapping solver time 26.138084 ms 
mapping data assosiation time 21.982893 ms 
mapping solver time 17.383934 ms 
points size 90655 
filter time 8.849613 ms 
sort q time 5.258326 
seperate points time 13.298065 
publication time 8.984513 ms 
whole laserOdometry time 8.997954 ms 
 
-----t: 0.0525117
OdomCount 4224 & avg odom time 0.045080 ms ++++++++++++++++++++++
mapping data assosiation time 23.023024 ms 
mapping solver time 20.461940 ms 
prepare time 10.120821 
mapping data assosiation time 25.554606 ms 
mapping solver time 14.531602 ms 
filter time 11.278410 ms 
1317358200.954477071 WriteOdom laser_odom_to_init
build tree time 28.766754 ms 
--------------------stamp1317358201.058373928
prepare time 8.743772 
sort q time 5.063930 
seperate points time 11.153210 
scan registration time 22.290352 ms *************
publication time 8.457439 ms 
whole laserOdometry time 8.472633 ms 
 
mapping data assosiation time 26.972832 ms 
-----t: 0.0413235
OdomCount 4226 & avg odom time 0.045079 ms ++++++++++++++++++++++
1317358201.058373928 WriteOdom laser_odom_to_init
1317358201.058373928 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 16.523166 ms 
filter time 12.900558 ms 
map prepare time 3.761708 ms
map corner num 129084  surf num 53275 
points size 87071 
sort q time 7.613585 
seperate points time 14.637787 
publication time 15.034272 ms 
whole laserOdometry time 15.050571 ms 
 
-----t: 0.0589744
OdomCount 4227 & avg odom time 0.045082 ms ++++++++++++++++++++++
mapping data assosiation time 18.763822 ms 
points size 86784 
sort q time 5.302722 
seperate points time 11.546925 
map prepare time 3.856159 ms
map corner num 129690  surf num 53503 
-----t: 0.0496754
OdomCount 4228 & avg odom time 0.045083 ms ++++++++++++++++++++++
1317358201.266185998 WriteOdom laser_odom_to_init
1317358201.266185998 WriteOdom aft_mapped_to_init_high_frec
build tree time 34.666712 ms 
mapping data assosiation time 18.812351 ms 
--------------------stamp1317358201.370104074
sort q time 4.544869 
seperate points time 10.286380 
publication time 8.279484 ms 
whole laserOdometry time 8.296597 ms 
 
-----t: 0.0389122
OdomCount 4229 & avg odom time 0.045082 ms ++++++++++++++++++++++
map prepare time 2.806600 ms
map corner num 130240  surf num 53673 
build tree time 28.530244 ms 
points size 83574 
sort q time 4.877508 
seperate points time 9.722261 
scan registration time 22.158896 ms *************
publication time 12.422472 ms 
whole laserOdometry time 12.434493 ms 
 
mapping data assosiation time 22.081841 ms 
-----t: 0.0423767
OdomCount 4230 & avg odom time 0.045081 ms ++++++++++++++++++++++
1317358201.474025011 WriteOdom laser_odom_to_init
1317358201.474025011 WriteOdom aft_mapped_to_init_high_frec
filter time 8.598791 ms 
--------------------stamp1317358201.577969074
build tree time 34.041019 ms 
mapping data assosiation time 21.125103 ms 
-----t: 0.0363545
OdomCount 4231 & avg odom time 0.045079 ms ++++++++++++++++++++++
mapping data assosiation time 18.395399 ms 
mapping solver time 14.622031 ms 
filter time 8.634939 ms 
points size 84355 
sort q time 4.571400 
seperate points time 10.984022 
scan registration time 24.373787 ms *************
publication time 8.976854 ms 
whole laserOdometry time 8.991160 ms 
 
mapping data assosiation time 20.848134 ms 
mapping solver time 14.834986 ms 
mapping data assosiation time 18.703984 ms 
--------------------stamp1317358201.785923004
filter time 9.281226 ms 
[0m[ INFO] [1718890284.711920286, 1317358201.808627759]: Received 185989 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890284.711959864, 1317358201.808627759]: Data saved to 1317358201577969.pcd[0m
-----t: 0.0417748
OdomCount 4233 & avg odom time 0.045075 ms ++++++++++++++++++++++
--------------------stamp1317358201.889915943
prepare time 10.485054 
sort q time 4.857165 
seperate points time 11.626296 
publication time 8.394474 ms 
whole laserOdometry time 8.405683 ms 
 
mapping pub time 154.814571 ms 
whole mapping time 270.251634 ms +++++
mappingCount 2781 & avg mapping time 154.061521 ms ++++++++++++++++++++++
1317358201.889915943 WriteOdom laser_odom_to_init
build tree time 29.820045 ms 
points size 83274 
prepare time 8.398649 
mapping data assosiation time 20.967522 ms 
--------------------stamp1317358202.097892045
sort q time 5.037585 
seperate points time 10.089392 
publication time 8.092936 ms 
whole laserOdometry time 8.107443 ms 
 
mapping data assosiation time 21.128940 ms 
1317358202.097892045 WriteOdom laser_odom_to_init
1317358202.097892045 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.614027 ms 
mapping data assosiation time 17.874158 ms 
mapping solver time 15.176607 ms 
filter time 9.609481 ms 
sort q time 5.698240 
seperate points time 11.314171 
publication time 9.772657 ms 
whole laserOdometry time 9.787353 ms 
 
mapping data assosiation time 18.552327 ms 
mapping solver time 17.784211 ms 
mapping data assosiation time 16.551930 ms 
mapping solver time 15.107724 ms 
points size 86046 
mapping optimization time 101.116802 
prepare time 10.644206 
add points time 1.056316 ms
scan registration time 34.450172 ms *************
publication time 9.434155 ms 
whole laserOdometry time 9.447405 ms 
 
-----t: 0.0465243
OdomCount 4238 & avg odom time 0.045075 ms ++++++++++++++++++++++
mapping data assosiation time 16.923353 ms 
--------------------stamp1317358202.409869909
sort q time 4.502462 
seperate points time 9.537110 
mapping solver time 18.060684 ms 
mapping optimization time 113.958776 
add points time 0.736701 ms
build tree time 29.207800 ms 
--------------------stamp1317358202.513885021
sort q time 4.702719 
seperate points time 10.578348 
scan registration time 20.277409 ms *************
mapping solver time 19.051274 ms 
mapping data assosiation time 20.994711 ms 
mapping solver time 10.860348 ms 
filter time 8.460687 ms 
map prepare time 2.790625 ms
map corner num 134621  surf num 54928 
--------------------stamp1317358202.617877006
sort q time 5.083685 
seperate points time 10.915931 
publication time 8.602650 ms 
whole laserOdometry time 8.630991 ms 
 
-----t: 0.0315859
OdomCount 4241 & avg odom time 0.045068 ms ++++++++++++++++++++++
1317358202.617877006 WriteOdom laser_odom_to_init
1317358202.617877006 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.070730 ms 
mapping data assosiation time 24.846493 ms 
mapping solver time 15.654197 ms 
filter time 9.671300 ms 
points size 87939 
sort q time 4.845077 
seperate points time 11.497249 
build tree time 38.998851 ms 
mapping data assosiation time 21.096722 ms 
mapping solver time 17.596380 ms 
mapping data assosiation time 17.179931 ms 
points size 88578 
prepare time 8.438923 
mapping solver time 15.925891 ms 
mapping optimization time 111.578056 
add points time 0.833205 ms
publication time 9.590855 ms 
whole laserOdometry time 9.605741 ms 
 
-----t: 0.0466818
OdomCount 4243 & avg odom time 0.045069 ms ++++++++++++++++++++++
mapping data assosiation time 17.686422 ms 
mapping solver time 14.177116 ms 
--------------------stamp1317358202.929702043
points size 89069 
prepare time 12.172010 
mapping data assosiation time 21.979321 ms 
filter time 9.710351 ms 
-----t: 0.0594083
OdomCount 4244 & avg odom time 0.045072 ms ++++++++++++++++++++++
mapping data assosiation time 17.177966 ms 
points size 89073 
prepare time 8.756167 
mapping solver time 21.067132 ms 
mapping solver time 16.897935 ms 
filter time 9.550576 ms 
build tree time 30.080660 ms 
points size 89396 
mapping data assosiation time 23.594421 ms 
sort q time 4.883702 
seperate points time 11.512360 
publication time 8.457846 ms 
whole laserOdometry time 8.483274 ms 
 
mapping data assosiation time 20.515475 ms 
mapping solver time 14.707124 ms 
filter time 8.582466 ms 
map prepare time 2.478817 ms
map corner num 84893  surf num 33296 
points size 90020 
sort q time 4.859801 
seperate points time 11.605454 
mapping data assosiation time 28.074486 ms 
publication time 12.631422 ms 
whole laserOdometry time 12.644621 ms 
 
mapping data assosiation time 18.560009 ms 
mapping solver time 15.913361 ms 
map prepare time 2.643324 ms
map corner num 85585  surf num 33512 
sort q time 4.842371 
seperate points time 11.715459 
publication time 9.899524 ms 
whole laserOdometry time 9.913538 ms 
 
mapping data assosiation time 21.998522 ms 
-----t: 0.0384856
OdomCount 4248 & avg odom time 0.045066 ms ++++++++++++++++++++++
1317358203.345520973 WriteOdom laser_odom_to_init
1317358203.345520973 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 20.960127 ms 
--------------------stamp1317358203.449438095
filter time 7.978091 ms 
sort q time 5.270517 
seperate points time 12.194327 
build tree time 22.293372 ms 
-----t: 0.0497888
OdomCount 4249 & avg odom time 0.045067 ms ++++++++++++++++++++++
mapping solver time 16.299198 ms 
mapping data assosiation time 20.225240 ms 
points size 93357 
mapping solver time 23.839546 ms 
mapping pub time 2.098393 ms 
whole mapping time 121.411273 ms +++++
mappingCount 2794 & avg mapping time 153.918632 ms ++++++++++++++++++++++
-----t: 0.0365683
OdomCount 4250 & avg odom time 0.045065 ms ++++++++++++++++++++++
mapping data assosiation time 19.562364 ms 
mapping solver time 19.232484 ms 
points size 94413 
sort q time 5.652730 
seperate points time 11.604317 
mapping data assosiation time 24.884572 ms 
scan registration time 23.483617 ms *************
mapping solver time 20.934585 ms 
publication time 14.007058 ms 
whole laserOdometry time 14.022807 ms 
 
build tree time 19.580395 ms 
mapping data assosiation time 20.155460 ms 
points size 95540 
mapping solver time 24.282057 ms 
sort q time 14.488241 
seperate points time 22.168079 
-----t: 0.0333576
OdomCount 4252 & avg odom time 0.045059 ms ++++++++++++++++++++++
mapping solver time 18.721582 ms 
filter time 6.005385 ms 
[0m[ INFO] [1718890286.732575684, 1317358203.832130618]: Received 122719 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890286.732618459, 1317358203.832130618]: Data saved to 1317358203553335.pcd[0m
mapping pub time 3.711287 ms 
whole mapping time 121.238541 ms +++++
mappingCount 2796 & avg mapping time 153.895116 ms ++++++++++++++++++++++
1317358203.553335905 WriteOdom aft_mapped_to_init
build tree time 19.419484 ms 
points size 95779 
mapping data assosiation time 25.881580 ms 
scan registration time 33.071187 ms *************
mapping solver time 26.128330 ms 
publication time 21.036233 ms 
whole laserOdometry time 21.050204 ms 
 
mapping solver time 16.607229 ms 
filter time 6.721658 ms 
points size 93470 
build tree time 25.185879 ms 
scan registration time 39.725884 ms *************
mapping data assosiation time 24.736518 ms 
-----t: 0.0555212
OdomCount 4254 & avg odom time 0.045063 ms ++++++++++++++++++++++
mapping data assosiation time 22.515955 ms 
points size 93911 
filter time 7.700981 ms 
publication time 10.687269 ms 
whole laserOdometry time 10.706007 ms 
 
mapping data assosiation time 19.667933 ms 
mapping solver time 21.289778 ms 
points size 93679 
sort q time 5.883961 
seperate points time 12.401650 
mapping solver time 22.391667 ms 
filter time 8.225367 ms 
-----t: 0.0397443
OdomCount 4256 & avg odom time 0.045061 ms ++++++++++++++++++++++
build tree time 19.953141 ms 
mapping data assosiation time 19.089099 ms 
--------------------stamp1317358204.280524015
mapping solver time 22.966784 ms 
scan registration time 28.625085 ms *************
mapping data assosiation time 23.806414 ms 
publication time 9.732822 ms 
whole laserOdometry time 9.747970 ms 
 
1317358204.280524015 WriteOdom laser_odom_to_init
1317358204.280524015 WriteOdom aft_mapped_to_init_high_frec
filter time 6.315117 ms 
build tree time 18.836826 ms 
--------------------stamp1317358204.384392976
mapping data assosiation time 21.014242 ms 
sort q time 6.652502 
seperate points time 12.370120 
publication time 10.258236 ms 
whole laserOdometry time 10.275668 ms 
 
mapping data assosiation time 23.683251 ms 
mapping solver time 18.750199 ms 
[0m[ INFO] [1718890287.373313619, 1317358204.465690282]: Received 127569 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890287.373366966, 1317358204.465690282]: Data saved to 1317358204280524.pcd[0m
--------------------stamp1317358204.488241910
sort q time 5.871343 
seperate points time 12.589127 
publication time 12.853684 ms 
whole laserOdometry time 12.879349 ms 
 
--------------------stamp1317358204.592089891
sort q time 5.630736 
seperate points time 12.961752 
mapping pub time 166.256421 ms 
whole mapping time 284.670482 ms +++++
mappingCount 2801 & avg mapping time 153.902134 ms ++++++++++++++++++++++
build tree time 22.084332 ms 
mapping data assosiation time 20.148486 ms 
--------------------stamp1317358204.695960044
points size 91073 
sort q time 5.731852 
seperate points time 13.759979 
scan registration time 32.994675 ms *************
mapping data assosiation time 24.579924 ms 
mapping solver time 17.999398 ms 
filter time 6.617577 ms 
build tree time 20.202479 ms 
--------------------stamp1317358204.799832105
points size 89219 
sort q time 4.815737 
seperate points time 11.579520 
publication time 8.741086 ms 
whole laserOdometry time 8.752382 ms 
 
mapping solver time 11.832138 ms 
mapping pub time 2.267086 ms 
whole mapping time 112.520262 ms +++++
mappingCount 2803 & avg mapping time 153.876998 ms ++++++++++++++++++++++
--------------------stamp1317358204.903702974
points size 88803 
sort q time 5.852466 
seperate points time 13.991953 
-----t: 0.030502
OdomCount 4263 & avg odom time 0.045046 ms ++++++++++++++++++++++
mapping data assosiation time 20.283979 ms 
mapping solver time 17.555937 ms 
mapping pub time 2.022634 ms 
whole mapping time 121.224307 ms +++++
mappingCount 2804 & avg mapping time 153.865354 ms ++++++++++++++++++++++
points size 88690 
sort q time 4.967340 
seperate points time 10.479790 
publication time 8.456170 ms 
whole laserOdometry time 8.470190 ms 
 
mapping data assosiation time 22.939575 ms 
mapping solver time 20.624705 ms 
mapping data assosiation time 19.240660 ms 
--------------------stamp1317358205.111469030
filter time 7.353531 ms 
publication time 8.745536 ms 
whole laserOdometry time 8.764710 ms 
 
mapping data assosiation time 18.369934 ms 
mapping solver time 22.998677 ms 
--------------------stamp1317358205.215388059
sort q time 4.869082 
seperate points time 11.705644 
filter time 9.183948 ms 
publication time 10.729901 ms 
whole laserOdometry time 10.748630 ms 
 
[0m[ INFO] [1718890288.156391846, 1317358205.253350245]: Received 132347 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 5.436664 ms 
whole mapping time 126.162143 ms +++++
mappingCount 2806 & avg mapping time 153.844873 ms ++++++++++++++++++++++
1317358205.007574081 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718890288.156958527, 1317358205.253350245]: Data saved to 1317358205007574.pcd[0m
drop lidar frame in mapping for real time performance 
-----t: 0.0467149
OdomCount 4266 & avg odom time 0.045044 ms ++++++++++++++++++++++
build tree time 25.736965 ms 
mapping data assosiation time 21.264893 ms 
points size 89908 
sort q time 4.930908 
seperate points time 11.759998 
mapping data assosiation time 23.625308 ms 
-----t: 0.0459605
OdomCount 4267 & avg odom time 0.045044 ms ++++++++++++++++++++++
1317358205.319307088 WriteOdom laser_odom_to_init
1317358205.319307088 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.643911 ms 
mapping optimization time 118.524696 
add points time 0.847330 ms
map prepare time 2.470050 ms
map corner num 96186  surf num 37104 
build tree time 21.153139 ms 
points size 90476 
sort q time 5.489486 
seperate points time 16.731324 
publication time 15.026893 ms 
whole laserOdometry time 15.041915 ms 
 
-----t: 0.0556221
OdomCount 4268 & avg odom time 0.045046 ms ++++++++++++++++++++++
1317358205.423223972 WriteOdom laser_odom_to_init
1317358205.423223972 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 24.618283 ms 
mapping solver time 19.091147 ms 
filter time 7.197690 ms 
points size 90874 
sort q time 5.501644 
seperate points time 11.427840 
scan registration time 27.364102 ms *************
build tree time 25.123147 ms 
publication time 8.018056 ms 
whole laserOdometry time 8.031143 ms 
 
mapping solver time 14.771093 ms 
mapping data assosiation time 20.678433 ms 
--------------------stamp1317358205.631061077
points size 90936 
map prepare time 3.400085 ms
map corner num 97564  surf num 38099 
publication time 9.016109 ms 
whole laserOdometry time 9.045613 ms 
 
mapping data assosiation time 21.786546 ms 
mapping solver time 18.694377 ms 
--------------------stamp1317358205.734956026
points size 91281 
sort q time 5.011413 
seperate points time 11.871990 
filter time 9.842880 ms 
build tree time 19.565745 ms 
mapping data assosiation time 20.230762 ms 
--------------------stamp1317358205.838850975
prepare time 14.715664 
sort q time 6.187630 
seperate points time 14.624310 
publication time 9.198897 ms 
whole laserOdometry time 9.213491 ms 
 
map prepare time 2.704182 ms
map corner num 98846  surf num 39158 
build tree time 23.353008 ms 
--------------------stamp1317358205.942770004
prepare time 12.850028 
sort q time 5.663705 
seperate points time 12.715351 
publication time 11.958481 ms 
whole laserOdometry time 11.973305 ms 
 
mapping solver time 13.089743 ms 
mapping pub time 2.037820 ms 
whole mapping time 118.687389 ms +++++
mappingCount 2812 & avg mapping time 153.781932 ms ++++++++++++++++++++++
--------------------stamp1317358206.046665906
prepare time 12.757274 
mapping data assosiation time 24.770368 ms 
mapping solver time 22.648478 ms 
mapping data assosiation time 25.268300 ms 
-----t: 0.0607493
OdomCount 4274 & avg odom time 0.045048 ms ++++++++++++++++++++++
1317358206.046665906 WriteOdom laser_odom_to_init
1317358206.046665906 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.180572 ms 
filter time 6.874572 ms 
points size 94415 
prepare time 14.314621 
build tree time 28.534258 ms 
mapping data assosiation time 25.636417 ms 
-----t: 0.0464047
OdomCount 4275 & avg odom time 0.045048 ms ++++++++++++++++++++++
1317358206.150536060 WriteOdom laser_odom_to_init
1317358206.150536060 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.055840 ms 
mapping data assosiation time 22.471060 ms 
points size 94755 
sort q time 5.563338 
seperate points time 12.920177 
-----t: 0.0407441
OdomCount 4276 & avg odom time 0.045047 ms ++++++++++++++++++++++
mapping data assosiation time 21.091363 ms 
mapping solver time 15.800579 ms 
points size 93461 
scan registration time 28.133097 ms *************
filter time 9.542237 ms 
publication time 8.450800 ms 
whole laserOdometry time 8.470856 ms 
 
build tree time 21.088293 ms 
mapping data assosiation time 19.373841 ms 
--------------------stamp1317358206.462148904
sort q time 5.263039 
seperate points time 11.946350 
-----t: 0.0320946
OdomCount 4278 & avg odom time 0.045041 ms ++++++++++++++++++++++
filter time 6.984631 ms 
[0m[ INFO] [1718890289.422863464, 1317358206.518123574]: Received 143688 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890289.422917786, 1317358206.518123574]: Data saved to 1317358206254405.pcd[0m
mapping pub time 4.110010 ms 
whole mapping time 119.472192 ms +++++
mappingCount 2816 & avg mapping time 153.739231 ms ++++++++++++++++++++++
1317358206.254405975 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
build tree time 22.382098 ms 
--------------------stamp1317358206.565994977
prepare time 10.679590 
sort q time 5.404431 
seperate points time 12.413807 
publication time 9.018934 ms 
whole laserOdometry time 9.026878 ms 
 
mapping solver time 14.876728 ms 
mapping optimization time 101.545564 
add points time 0.787936 ms
map prepare time 2.357004 ms
map corner num 102488  surf num 42064 
build tree time 23.605885 ms 
mapping data assosiation time 20.504318 ms 
publication time 9.067969 ms 
whole laserOdometry time 9.084933 ms 
 
mapping solver time 20.806330 ms 
-----t: 0.0502401
OdomCount 4280 & avg odom time 0.045040 ms ++++++++++++++++++++++
mapping solver time 14.148385 ms 
mapping pub time 2.086331 ms 
whole mapping time 114.486911 ms +++++
mappingCount 2818 & avg mapping time 153.711330 ms ++++++++++++++++++++++
--------------------stamp1317358206.773663997
prepare time 9.941893 
sort q time 4.989549 
seperate points time 11.688582 
publication time 8.916197 ms 
whole laserOdometry time 8.927565 ms 
 
-----t: 0.0394273
OdomCount 4281 & avg odom time 0.045039 ms ++++++++++++++++++++++
mapping data assosiation time 18.270308 ms 
mapping solver time 11.440220 ms 
mapping pub time 2.111856 ms 
whole mapping time 113.374752 ms +++++
mappingCount 2819 & avg mapping time 153.697022 ms ++++++++++++++++++++++
points size 85632 
sort q time 5.229446 
seperate points time 12.060414 
publication time 8.322478 ms 
whole laserOdometry time 8.336525 ms 
 
mapping data assosiation time 22.150673 ms 
mapping solver time 20.704143 ms 
mapping data assosiation time 19.942614 ms 
mapping solver time 14.235725 ms 
mapping pub time 1.936395 ms 
whole mapping time 121.754041 ms +++++
mappingCount 2820 & avg mapping time 153.685696 ms ++++++++++++++++++++++
publication time 9.996692 ms 
whole laserOdometry time 10.019927 ms 
 
build tree time 27.414721 ms 
mapping data assosiation time 20.539922 ms 
mapping solver time 17.212338 ms 
--------------------stamp1317358207.085203886
mapping solver time 13.722154 ms 
publication time 8.291236 ms 
whole laserOdometry time 8.314501 ms 
 
-----t: 0.0435289
OdomCount 4284 & avg odom time 0.045036 ms ++++++++++++++++++++++
--------------------stamp1317358207.189027070
sort q time 4.487824 
seperate points time 9.973239 
publication time 9.588364 ms 
whole laserOdometry time 9.600964 ms 
 
1317358207.189027070 WriteOdom laser_odom_to_init
1317358207.189027070 WriteOdom aft_mapped_to_init_high_frec
mapping pub time 161.178054 ms 
whole mapping time 272.371882 ms +++++
mappingCount 2821 & avg mapping time 153.727769 ms ++++++++++++++++++++++
--------------------stamp1317358207.292850017
sort q time 5.236712 
seperate points time 10.773437 
mapping data assosiation time 21.569282 ms 
-----t: 0.0333177
OdomCount 4286 & avg odom time 0.045030 ms ++++++++++++++++++++++
mapping data assosiation time 19.054431 ms 
mapping solver time 17.046872 ms 
filter time 9.551565 ms 
points size 84651 
sort q time 4.563745 
seperate points time 11.031877 
scan registration time 26.323719 ms *************
build tree time 27.055575 ms 
publication time 8.088772 ms 
whole laserOdometry time 8.102436 ms 
 
mapping solver time 20.713857 ms 
mapping data assosiation time 21.738876 ms 
points size 87948 
filter time 7.803330 ms 
publication time 7.272499 ms 
whole laserOdometry time 7.289101 ms 
 
build tree time 28.655162 ms 
mapping data assosiation time 19.112000 ms 
mapping solver time 16.131711 ms 
--------------------stamp1317358207.604391098
mapping data assosiation time 21.600850 ms 
sort q time 4.869821 
seperate points time 11.368496 
filter time 8.175817 ms 
build tree time 23.343496 ms 
mapping data assosiation time 19.754461 ms 
--------------------stamp1317358207.708236932
prepare time 13.310788 
mapping data assosiation time 22.350574 ms 
-----t: 0.0295622
OdomCount 4290 & avg odom time 0.045022 ms ++++++++++++++++++++++
filter time 7.387000 ms 
build tree time 25.084354 ms 
--------------------stamp1317358207.812060117
prepare time 11.139753 
sort q time 5.272659 
seperate points time 11.998078 
-----t: 0.0322187
OdomCount 4291 & avg odom time 0.045019 ms ++++++++++++++++++++++
mapping solver time 16.324369 ms 
filter time 7.180506 ms 
[0m[ INFO] [1718890290.793688977, 1317358207.889375167]: Received 152711 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890290.793732429, 1317358207.889375167]: Data saved to 1317358207604391.pcd[0m
mapping pub time 4.122403 ms 
whole mapping time 129.167742 ms +++++
mappingCount 2826 & avg mapping time 153.671328 ms ++++++++++++++++++++++
1317358207.604391098 WriteOdom aft_mapped_to_init
--------------------stamp1317358207.915859937
build tree time 24.929896 ms 
prepare time 10.077478 
sort q time 5.786927 
seperate points time 11.721810 
publication time 8.519927 ms 
whole laserOdometry time 8.532270 ms 
 
mapping solver time 25.035375 ms 
-----t: 0.0547776
OdomCount 4292 & avg odom time 0.045022 ms ++++++++++++++++++++++
mapping data assosiation time 22.025342 ms 
mapping solver time 16.604791 ms 
mapping pub time 2.097682 ms 
whole mapping time 127.897967 ms +++++
mappingCount 2827 & avg mapping time 153.662213 ms ++++++++++++++++++++++
sort q time 5.528055 
seperate points time 11.010114 
build tree time 27.294041 ms 
mapping data assosiation time 23.446381 ms 
mapping solver time 20.703492 ms 
--------------------stamp1317358208.123455047
mapping solver time 17.733214 ms 
filter time 9.623172 ms 
publication time 8.670542 ms 
whole laserOdometry time 8.693347 ms 
 
build tree time 31.077758 ms 
mapping data assosiation time 22.902245 ms 
--------------------stamp1317358208.227256059
mapping solver time 27.318509 ms 
mapping data assosiation time 24.175081 ms 
-----t: 0.0396536
OdomCount 4295 & avg odom time 0.045024 ms ++++++++++++++++++++++
filter time 7.287502 ms 
build tree time 22.867962 ms 
points size 87660 
sort q time 4.982045 
seperate points time 11.234586 
scan registration time 24.776888 ms *************
mapping data assosiation time 34.131971 ms 
publication time 7.912224 ms 
whole laserOdometry time 7.925631 ms 
 
mapping data assosiation time 20.560096 ms 
mapping solver time 17.767894 ms 
mapping pub time 2.236127 ms 
whole mapping time 131.426624 ms +++++
mappingCount 2830 & avg mapping time 153.640615 ms ++++++++++++++++++++++
points size 85997 
sort q time 5.627762 
seperate points time 11.324092 
publication time 7.959860 ms 
whole laserOdometry time 7.973937 ms 
 
mapping solver time 16.739597 ms 
mapping data assosiation time 21.126888 ms 
mapping solver time 16.194131 ms 
[0m[ INFO] [1718890291.443717068, 1317358208.538000612]: Received 86033 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890291.443757703, 1317358208.538000612]: Data saved to 1317358208331078.pcd[0m
sort q time 5.813272 
seperate points time 13.148513 
mapping data assosiation time 23.452667 ms 
-----t: 0.0522494
OdomCount 4298 & avg odom time 0.045020 ms ++++++++++++++++++++++
mapping data assosiation time 21.567132 ms 
--------------------stamp1317358208.642545938
mapping pub time 1.906919 ms 
whole mapping time 106.518591 ms +++++
mappingCount 2832 & avg mapping time 153.608360 ms ++++++++++++++++++++++
sort q time 5.004729 
seperate points time 12.222722 
publication time 7.443935 ms 
whole laserOdometry time 7.460059 ms 
 
mapping data assosiation time 21.980923 ms 
mapping solver time 21.731767 ms 
mapping data assosiation time 21.283434 ms 
points size 89470 
filter time 6.443981 ms 
publication time 10.270411 ms 
whole laserOdometry time 10.284728 ms 
 
-----t: 0.045464
OdomCount 4300 & avg odom time 0.045019 ms ++++++++++++++++++++++
mapping solver time 19.926553 ms 
--------------------stamp1317358208.850261926
points size 90995 
add points time 0.880679 ms
map prepare time 2.508995 ms
map corner num 62947  surf num 26423 
-----t: 0.0316739
OdomCount 4301 & avg odom time 0.045016 ms ++++++++++++++++++++++
mapping data assosiation time 21.969331 ms 
mapping solver time 17.602805 ms 
--------------------stamp1317358208.954109907
sort q time 5.227931 
seperate points time 12.283381 
filter time 6.129469 ms 
-----t: 0.0327898
OdomCount 4302 & avg odom time 0.045013 ms ++++++++++++++++++++++
build tree time 16.079684 ms 
mapping data assosiation time 21.432611 ms 
--------------------stamp1317358209.057931900
sort q time 6.212323 
seperate points time 11.789800 
publication time 9.093739 ms 
whole laserOdometry time 9.122650 ms 
 
filter time 5.671900 ms 
1317358209.057931900 WriteOdom laser_odom_to_init
1317358209.057931900 WriteOdom aft_mapped_to_init_high_frec
build tree time 14.428254 ms 
mapping data assosiation time 22.832343 ms 
points size 96200 
sort q time 6.616381 
seperate points time 13.246082 
mapping data assosiation time 26.281163 ms 
mapping solver time 16.957262 ms 
-----t: 0.0575007
OdomCount 4304 & avg odom time 0.045016 ms ++++++++++++++++++++++
build tree time 14.382198 ms 
--------------------stamp1317358209.265625953
prepare time 12.889761 
sort q time 6.328623 
seperate points time 13.292246 
publication time 11.181662 ms 
whole laserOdometry time 11.203710 ms 
 
mapping data assosiation time 26.638499 ms 
mapping solver time 16.611469 ms 
mapping pub time 2.237675 ms 
whole mapping time 116.464511 ms +++++
mappingCount 2838 & avg mapping time 153.523351 ms ++++++++++++++++++++++
--------------------stamp1317358209.369448900
prepare time 12.801491 
sort q time 5.964335 
seperate points time 13.064601 
publication time 10.703530 ms 
whole laserOdometry time 10.713680 ms mapping solver time 30.544385 ms 
mapping data assosiation time 22.104734 ms 
--------------------stamp1317358209.473268985
filter time 7.251008 ms 
scan registration time 30.663164 ms *************
build tree time 24.465968 ms 
-----t: 0.0432946
OdomCount 4307 & avg odom time 0.045015 ms ++++++++++++++++++++++
1317358209.473268985 WriteOdom laser_odom_to_init
1317358209.473268985 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 17.558739 ms 
--------------------stamp1317358209.577091932
points size 97799 
mapping solver time 15.661410 ms 
sort q time 6.093286 
seperate points time 12.134360 
map prepare time 3.492542 ms
map corner num 67870  surf num 28506 
1317358209.577091932 WriteOdom laser_odom_to_init
1317358209.577091932 WriteOdom aft_mapped_to_init_high_frec
build tree time 19.431234 ms 
mapping data assosiation time 21.945102 ms 
mapping solver time 19.036098 ms 
points size 96020 
mapping data assosiation time 26.489327 ms 
publication time 9.001097 ms 
whole laserOdometry time 9.014613 ms 
 
filter time 6.870213 ms 
--------------------stamp1317358209.784746885
scan registration time 28.754246 ms *************
publication time 8.587835 ms 
whole laserOdometry time 8.613015 ms 
 
--------------------stamp1317358209.888566970
1317358209.473268986 WriteOdom aft_mapped_to_init
scan registration time 23.244227 ms *************
publication time 11.318311 ms 
whole laserOdometry time 11.333542 ms 
 
-----t: 0.0421381
OdomCount 4311 & avg odom time 0.045009 ms ++++++++++++++++++++++
mapping solver time 23.164017 ms 
mapping data assosiation time 21.810716 ms 
points size 87864 
mapping solver time 26.026830 ms 
mapping pub time 2.342980 ms 
whole mapping time 131.434907 ms +++++
mappingCount 2842 & avg mapping time 153.539831 ms ++++++++++++++++++++++
-----t: 0.0334256
OdomCount 4312 & avg odom time 0.045006 ms ++++++++++++++++++++++
1317358209.992387056 WriteOdom laser_odom_to_init
1317358209.992387056 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.604686 ms 
--------------------stamp1317358210.096205949
sort q time 5.167249 
seperate points time 10.516552 
publication time 9.740913 ms 
whole laserOdometry time 9.761689 ms 
 
mapping pub time 2.004899 ms 
whole mapping time 119.949634 ms +++++
mappingCount 2843 & avg mapping time 153.528018 ms ++++++++++++++++++++++
build tree time 15.779882 ms 
mapping data assosiation time 27.028427 ms 
prepare time 12.148389 
sort q time 4.927163 
seperate points time 11.718807 
-----t: 0.0461868
OdomCount 4314 & avg odom time 0.045007 ms ++++++++++++++++++++++
mapping solver time 18.700943 ms 
mapping pub time 1.852582 ms 
whole mapping time 133.640988 ms +++++
mappingCount 2844 & avg mapping time 153.521031 ms ++++++++++++++++++++++
--------------------stamp1317358210.303803920
sort q time 5.290115 
seperate points time 11.574006 
publication time 8.555315 ms 
whole laserOdometry time 8.573042 ms 
 
mapping data assosiation time 23.739831 ms 
mapping solver time 19.771070 ms 
mapping pub time 2.225366 ms 
whole mapping time 120.156725 ms +++++
mappingCount 2845 & avg mapping time 153.509305 ms ++++++++++++++++++++++
sort q time 5.436037 
seperate points time 11.626778 
publication time 8.790488 ms 
whole laserOdometry time 8.806276 ms 
 
mapping solver time 23.964398 ms 
--------------------stamp1317358210.511449098
sort q time 5.259885 
seperate points time 11.430592 
filter time 7.489255 ms 
-----t: 0.0444849
OdomCount 4317 & avg odom time 0.045003 ms ++++++++++++++++++++++
mapping data assosiation time 21.231036 ms 
--------------------stamp1317358210.615250110
sort q time 5.291610 
seperate points time 11.825950 
publication time 10.326058 ms 
whole laserOdometry time 10.341836 ms 
 
filter time 5.180344 ms 
map prepare time 2.577509 ms
map corner num 74001  surf num 30393 
build tree time 15.263500 ms 
--------------------stamp1317358210.719023942
prepare time 13.896419 
sort q time 4.976828 
seperate points time 12.043388 
publication time 8.229261 ms 
whole laserOdometry time 8.240827 ms 
 
mapping solver time 14.927420 ms 
mapping pub time 2.131195 ms 
whole mapping time 118.595523 ms +++++
mappingCount 2848 & avg mapping time 153.481867 ms ++++++++++++++++++++++
--------------------stamp1317358210.822798013
points size 91012 
mapping data assosiation time 27.554018 ms mapping solver time 20.602384 ms 
-----t: 0.0356219
OdomCount 4320 & avg odom time 0.044999 ms ++++++++++++++++++++++
1317358210.822798013 WriteOdom laser_odom_to_init
1317358210.822798013 WriteOdom aft_mapped_to_init_high_frec
publication time 9.551697 ms 
whole laserOdometry time 9.558201 ms 
 
mapping data assosiation time 23.705486 ms 
mapping solver time 14.023881 ms 
mapping pub time 2.063821 ms 
whole mapping time 114.945002 ms +++++
mappingCount 2849 & avg mapping time 153.468342 ms ++++++++++++++++++++++
points size 93210 
sort q time 5.286907 
seperate points time 12.533764 
mapping data assosiation time 26.354589 ms 
-----t: 0.0452742
OdomCount 4321 & avg odom time 0.044999 ms ++++++++++++++++++++++
1317358210.926575899 WriteOdom laser_odom_to_init
1317358210.926575899 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.708122 ms 
mapping data assosiation time 21.931302 ms 
points size 93415 
filter time 7.771656 ms 
scan registration time 31.036752 ms *************
publication time 9.065545 ms 
whole laserOdometry time 9.080676 ms 
 
mapping data assosiation time 22.663685 ms 
mapping solver time 26.377574 ms 
points size 92818 
scan registration time 31.139708 ms *************
mapping solver time 22.516033 ms 
[0m[ INFO] [1718890294.088018715, 1317358211.188803183]: Received 108417 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890294.088054778, 1317358211.188803183]: Data saved to 1317358210926575.pcd[0m
-----t: 0.0543708
OdomCount 4323 & avg odom time 0.044998 ms ++++++++++++++++++++++
mapping data assosiation time 21.580945 ms 
prepare time 10.178146 
sort q time 5.257085 
seperate points time 11.441448 
publication time 12.341219 ms 
whole laserOdometry time 12.361266 ms 
 
mapping data assosiation time 27.781668 ms 
filter time 5.322303 ms 
build tree time 15.938759 ms 
--------------------stamp1317358211.341697931
prepare time 10.134597 
mapping data assosiation time 26.051047 ms 
sort q time 18.086094 
seperate points time 24.324981 
mapping solver time 22.238065 ms 
mapping data assosiation time 26.648657 ms 
-----t: 0.0523073
OdomCount 4325 & avg odom time 0.045001 ms ++++++++++++++++++++++
filter time 6.543824 ms 
--------------------stamp1317358211.445496082
sort q time 5.664864 
seperate points time 13.704242 
publication time 11.561165 ms 
whole laserOdometry time 11.568943 ms 
 
-----t: 0.0675616
OdomCount 4326 & avg odom time 0.045006 ms ++++++++++++++++++++++
--------------------stamp1317358211.549295902
points size 90197 
add points time 0.939478 ms
mapping pub time 2.149923 ms 
whole mapping time 134.942452 ms +++++
mappingCount 2854 & avg mapping time 153.422950 ms ++++++++++++++++++++++
publication time 10.098337 ms 
whole laserOdometry time 10.115734 ms 
 
build tree time 20.918213 ms 
mapping data assosiation time 21.740883 ms 
mapping solver time 17.042033 ms 
--------------------stamp1317358211.653119087
sort q time 5.502853 
seperate points time 12.312011 
filter time 8.032009 ms 
build tree time 17.049638 ms 
-----t: 0.0618193
OdomCount 4328 & avg odom time 0.045007 ms ++++++++++++++++++++++
mapping solver time 17.532490 ms 
points size 89224 
sort q time 4.918217 
seperate points time 11.382903 
mapping solver time 15.550378 ms 
drop lidar frame in mapping for real time performance 
build tree time 17.640075 ms 
mapping data assosiation time 22.236960 ms 
points size 88992 
sort q time 5.030553 
seperate points time 12.182600 
publication time 8.434794 ms 
whole laserOdometry time 8.447122 ms 
 
-----t: 0.0405454
OdomCount 4330 & avg odom time 0.045004 ms ++++++++++++++++++++++
mapping solver time 21.680428 ms 
mapping pub time 2.117686 ms 
whole mapping time 125.067411 ms +++++
mappingCount 2857 & avg mapping time 153.387824 ms ++++++++++++++++++++++
--------------------stamp1317358211.964704036
mapping data assosiation time 25.640156 ms 
publication time 9.887498 ms 
whole laserOdometry time 9.904187 ms 
 
mapping data assosiation time 22.597427 ms 
mapping solver time 21.789818 ms 
1317358211.860810041 WriteOdom aft_mapped_to_init
sort q time 5.031968 
seperate points time 10.848882 
scan registration time 21.130935 ms *************
build tree time 19.990607 ms 
-----t: 0.0337465
OdomCount 4332 & avg odom time 0.044999 ms ++++++++++++++++++++++
mapping solver time 18.276774 ms 
mapping data assosiation time 21.756257 ms 
--------------------stamp1317358212.172565937
map prepare time 3.044728 ms
map corner num 83084  surf num 33466 
build tree time 21.467892 ms 
-----t: 0.0368534
OdomCount 4333 & avg odom time 0.044998 ms ++++++++++++++++++++++
mapping data assosiation time 22.772641 ms 
mapping solver time 20.739387 ms 
mapping data assosiation time 20.855820 ms 
mapping solver time 19.060532 ms 
mapping pub time 2.071954 ms 
whole mapping time 119.977121 ms +++++
mappingCount 2860 & avg mapping time 153.353128 ms ++++++++++++++++++++++
-----t: 0.0397447
OdomCount 4334 & avg odom time 0.044996 ms ++++++++++++++++++++++
mapping data assosiation time 20.395140 ms 
mapping solver time 16.208124 ms 
points size 82873 
sort q time 4.806957 
seperate points time 10.411543 
filter time 7.547483 ms 
[0m[ INFO] [1718890295.317025112, 1317358212.411514650]: Received 118307 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890295.317064907, 1317358212.411514650]: Data saved to 1317358212172565.pcd[0m
publication time 10.164252 ms 
whole laserOdometry time 10.184594 ms 
 
--------------------stamp1317358212.484273910
sort q time 4.873709 
seperate points time 10.248595 
publication time 7.987655 ms 
whole laserOdometry time 8.014864 ms 
 
-----t: 0.0421566
OdomCount 4336 & avg odom time 0.044994 ms ++++++++++++++++++++++
--------------------stamp1317358212.588098049
sort q time 4.544213 
seperate points time 9.340239 
build tree time 22.871226 ms 
-----t: 0.0306874
OdomCount 4337 & avg odom time 0.044991 ms ++++++++++++++++++++++
mapping solver time 20.068341 ms 
mapping data assosiation time 19.877131 ms 
--------------------stamp1317358212.691921949
mapping pub time 2.006407 ms 
whole mapping time 119.597496 ms +++++
mappingCount 2862 & avg mapping time 153.386273 ms ++++++++++++++++++++++
-----t: 0.0370676
OdomCount 4338 & avg odom time 0.044989 ms ++++++++++++++++++++++
mapping data assosiation time 19.610560 ms 
mapping solver time 19.410121 ms 
--------------------stamp1317358212.795722007
sort q time 4.446813 
seperate points time 9.731949 
publication time 6.591335 ms 
whole laserOdometry time 6.605725 ms 
 
-----t: 0.0323174
OdomCount 4339 & avg odom time 0.044986 ms ++++++++++++++++++++++
build tree time 18.916729 ms 
mapping data assosiation time 18.243198 ms 
mapping solver time 18.596282 ms 
points size 81822 
sort q time 5.006971 
seperate points time 9.872260 
publication time 7.554711 ms 
whole laserOdometry time 7.567244 ms 
 
filter time 8.143696 ms 
build tree time 19.129438 ms 
mapping data assosiation time 18.301283 ms 
--------------------stamp1317358213.003346920
mapping solver time 21.446292 ms 
publication time 7.046787 ms 
whole laserOdometry time 7.062077 ms 
 
-----t: 0.0302784
OdomCount 4341 & avg odom time 0.044980 ms ++++++++++++++++++++++
mapping solver time 17.297219 ms 
mapping pub time 1.890397 ms 
whole mapping time 110.739139 ms +++++
mappingCount 2865 & avg mapping time 153.346177 ms ++++++++++++++++++++++
build tree time 17.855397 ms 
--------------------stamp1317358213.107193946
mapping solver time 18.044142 ms 
publication time 7.844897 ms 
whole laserOdometry time 7.863332 ms 
 
-----t: 0.0336093
OdomCount 4342 & avg odom time 0.044978 ms ++++++++++++++++++++++
mapping solver time 16.722381 ms 
[0m[ INFO] [1718890296.075144850, 1317358213.173727373]: Received 123077 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890296.075181117, 1317358213.173727373]: Data saved to 1317358213003346.pcd[0m
build tree time 18.512092 ms 
points size 88858 
sort q time 5.839451 
seperate points time 13.086899 
publication time 9.404089 ms 
whole laserOdometry time 9.416909 ms 
 
mapping data assosiation time 24.616799 ms 
mapping solver time 17.672075 ms 
filter time 6.287933 ms 
--------------------stamp1317358213.314977884
build tree time 23.550622 ms 
mapping data assosiation time 22.642286 ms 
mapping solver time 26.871652 ms 
mapping data assosiation time 22.035319 ms 
mapping solver time 17.929646 ms 
--------------------stamp1317358213.418898105
filter time 7.450734 ms 
build tree time 24.744998 ms 
points size 87383 
prepare time 42.530299 
mapping data assosiation time 26.099022 ms 
mapping solver time 18.784863 ms 
--------------------stamp1317358213.522861957
mapping solver time 17.974809 ms 
map prepare time 2.995705 ms
map corner num 89680  surf num 35655 
build tree time 24.069392 ms 
-----t: 0.0638145
OdomCount 4346 & avg odom time 0.044984 ms ++++++++++++++++++++++
1317358213.522861957 WriteOdom laser_odom_to_init
1317358213.522861957 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.334238 ms 
mapping solver time 18.717904 ms 
points size 86630 
sort q time 4.588999 
seperate points time 9.527273 
mapping solver time 18.654922 ms 
mapping pub time 2.164948 ms 
whole mapping time 119.703570 ms +++++
mappingCount 2870 & avg mapping time 153.286889 ms ++++++++++++++++++++++
build tree time 17.776933 ms 
mapping data assosiation time 17.838070 ms 
--------------------stamp1317358213.730793952
scan registration time 20.101078 ms *************
publication time 7.725129 ms 
whole laserOdometry time 7.755520 ms 
 
filter time 5.781651 ms 
build tree time 13.738085 ms 
mapping data assosiation time 17.884513 ms 
--------------------stamp1317358213.834763050
sort q time 5.779966 
seperate points time 13.724240 
publication time 8.781892 ms 
whole laserOdometry time 8.794052 ms 
 
1317358213.834763050 WriteOdom laser_odom_to_init
1317358213.730793953 WriteOdom aft_mapped_to_init
1317358213.834763050 WriteOdom aft_mapped_to_init_high_frec
build tree time 14.388103 ms 
mapping data assosiation time 18.827074 ms 
points size 84934 
sort q time 4.942404 
seperate points time 11.896668 
mapping data assosiation time 24.339678 ms 
1317358213.938752889 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 20.723925 ms 
mapping optimization time 101.078755 
add points time 0.774738 ms
1317358213.834763050 WriteOdom aft_mapped_to_init
build tree time 13.719391 ms 
--------------------stamp1317358214.042742967
sort q time 4.726173 
seperate points time 11.386533 
publication time 10.767881 ms 
whole laserOdometry time 10.801376 ms 
 
mapping data assosiation time 27.181284 ms 
mapping solver time 16.396771 ms 
mapping pub time 1.896378 ms 
whole mapping time 115.347353 ms +++++
mappingCount 2874 & avg mapping time 153.225742 ms ++++++++++++++++++++++
build tree time 15.260923 ms 
points size 81585 
mapping data assosiation time 25.904479 ms 
publication time 8.491249 ms 
whole laserOdometry time 8.508410 ms 
 
mapping data assosiation time 27.317978 ms points size 80671 
prepare time 19.301879 
mapping optimization time 169.068365 filter time 7.194237 ms 
map prepare time 3.386021 ms
map corner num 68255  surf num 26977 
1317358214.250677108 WriteOdom laser_odom_to_init
sort q time 14.138321 
seperate points time 30.371971 
points size 82886 
1317358214.354619026 WriteOdom laser_odom_to_init
1317358214.354619026 WriteOdom aft_mapped_to_init_high_frec
sort q time 5.101136 
seperate points time 16.325563 
mapping data assosiation time 129.722534 ms 
scan registration time 48.742684 ms *************
publication time 9.926881 ms 
whole laserOdometry time 9.942047 ms 
 
mapping solver time 40.782302 ms 
1317358214.458539962 WriteOdom aft_mapped_to_init_high_frec
points size 85373 
mapping data assosiation time 28.362941 ms 
sort q time 5.354919 
seperate points time 11.734801 
filter time 5.401262 ms 
-----t: 0.039803
OdomCount 4356 & avg odom time 0.045013 ms ++++++++++++++++++++++
mapping data assosiation time 18.955768 ms 
--------------------stamp1317358214.666425943
sort q time 4.599906 
seperate points time 10.407421 
mapping solver time 16.338326 ms 
mapping optimization time 90.008367 
add points time 0.812977 ms
filter time 6.058387 ms 
mapping pub time 1.997850 ms 
whole mapping time 101.306118 ms +++++
mappingCount 2877 & avg mapping time 153.267627 ms ++++++++++++++++++++++
1317358214.354619026 WriteOdom aft_mapped_to_init
build tree time 16.623000 ms 
mapping data assosiation time 22.231595 ms 
points size 86462 
sort q time 5.796103 
seperate points time 12.124640 
publication time 8.212393 ms 
whole laserOdometry time 8.225349 ms 
 
mapping data assosiation time 28.947546 ms 
-----t: 0.0499323
OdomCount 4358 & avg odom time 0.045014 ms ++++++++++++++++++++++
map prepare time 2.639910 ms
map corner num 70582  surf num 28090 
build tree time 15.484306 ms 
--------------------stamp1317358214.874263048
mapping data assosiation time 26.680033 ms 
mapping solver time 24.274588 ms 
-----t: 0.0388968
OdomCount 4359 & avg odom time 0.045012 ms ++++++++++++++++++++++
mapping data assosiation time 26.628144 ms 
mapping solver time 14.449532 ms 
mapping pub time 1.882765 ms 
whole mapping time 120.041933 ms +++++
mappingCount 2879 & avg mapping time 153.246720 ms ++++++++++++++++++++++
--------------------stamp1317358214.978204965
sort q time 4.978666 
seperate points time 10.778806 
mapping data assosiation time 25.395629 ms 
publication time 10.369499 ms mapping solver time 27.815692 ms 
mapping data assosiation time 20.912218 ms 
mapping solver time 14.106579 ms 
map prepare time 2.434489 ms
map corner num 72499  surf num 28940 
sort q time 4.345361 
seperate points time 10.521889 
publication time 8.623009 ms 
whole laserOdometry time 8.637401 ms 
 
mapping data assosiation time 25.089197 ms 
mapping solver time 20.597255 ms 
mapping data assosiation time 19.620246 ms 
--------------------stamp1317358215.186067104
prepare time 11.643008 
sort q time 5.193250 
seperate points time 12.115090 
publication time 9.077823 ms 
whole laserOdometry time 9.090013 ms 
 
points size 85392 
sort q time 4.580077 
seperate points time 11.288645 
scan registration time 23.376140 ms *************
-----t: 0.0437505
OdomCount 4363 & avg odom time 0.045005 ms ++++++++++++++++++++++
mapping pub time 185.818758 ms 
whole mapping time 299.131309 ms +++++
mappingCount 2881 & avg mapping time 153.285348 ms ++++++++++++++++++++++
points size 85814 
build tree time 20.435366 ms 
publication time 8.283299 ms 
whole laserOdometry time 8.300061 ms 
 
-----t: 0.0528872
OdomCount 4364 & avg odom time 0.045007 ms ++++++++++++++++++++++
mapping data assosiation time 22.473362 ms 
points size 84159 
publication time 10.150016 ms 
whole laserOdometry time 10.168741 ms 
 
mapping data assosiation time 21.911281 ms 
mapping solver time 22.626219 ms 
points size 83978 
sort q time 5.094553 
seperate points time 10.916820 
mapping solver time 20.157526 ms 
map prepare time 2.696389 ms
map corner num 74925  surf num 29831 
-----t: 0.0372471
OdomCount 4366 & avg odom time 0.045006 ms ++++++++++++++++++++++
1317358215.601888895 WriteOdom laser_odom_to_init
1317358215.601888895 WriteOdom aft_mapped_to_init_high_frec
build tree time 17.535673 ms 
mapping data assosiation time 18.652371 ms 
--------------------stamp1317358215.705806970
mapping data assosiation time 26.783859 ms 
-----t: 0.0314795
OdomCount 4367 & avg odom time 0.045003 ms ++++++++++++++++++++++
1317358215.705806970 WriteOdom laser_odom_to_init
1317358215.705806970 WriteOdom aft_mapped_to_init_high_frec
publication time 7.612398 ms 
whole laserOdometry time 7.625464 ms 
 
mapping solver time 20.251256 ms 
mapping optimization time 106.003283 
add points time 0.792098 ms
drop lidar frame in mapping for real time performance 
build tree time 15.653389 ms 
mapping data assosiation time 21.295426 ms 
prepare time 9.686340 
sort q time 4.518939 
seperate points time 10.855528 
publication time 7.929542 ms 
whole laserOdometry time 7.944632 ms 
 
-----t: 0.0311452
OdomCount 4368 & avg odom time 0.045000 ms ++++++++++++++++++++++
mapping solver time 16.056353 ms 
filter time 5.483271 ms 
build tree time 14.506227 ms 
--------------------stamp1317358215.913666963
mapping data assosiation time 22.208015 ms 
prepare time 11.349166 
sort q time 4.263868 
seperate points time 10.293219 
mapping solver time 23.970934 ms 
mapping data assosiation time 21.680906 ms 
mapping solver time 15.759474 ms 
filter time 5.277496 ms 
--------------------stamp1317358216.017563104
sort q time 4.548255 
seperate points time 9.348383 
publication time 7.096899 ms 
whole laserOdometry time 7.111672 ms 
 
-----t: 0.0342264
OdomCount 4370 & avg odom time 0.044995 ms ++++++++++++++++++++++
mapping data assosiation time 19.963178 ms 
mapping solver time 11.407519 ms 
map prepare time 2.125256 ms
map corner num 77810  surf num 30935 
--------------------stamp1317358216.121479034
sort q time 4.985390 
seperate points time 11.616572 
publication time 7.802694 ms 
whole laserOdometry time 7.833691 ms 
 
mapping solver time 26.940354 ms 
mapping data assosiation time 20.016221 ms 
mapping solver time 15.572000 ms 
mapping optimization time 105.286006 
add points time 0.774203 ms
filter time 5.487632 ms 
points size 82146 
sort q time 5.038264 
seperate points time 10.653928 
publication time 9.753476 ms 
mapping solver time 15.566109 ms 
mapping data assosiation time 16.302658 ms 
mapping solver time 11.762862 ms 
--------------------stamp1317358216.329366922
scan registration time 21.660575 ms *************
publication time 8.562545 ms 
whole laserOdometry time 8.582133 ms 
 
-----t: 0.0382723
OdomCount 4373 & avg odom time 0.044990 ms ++++++++++++++++++++++
mapping solver time 20.398126 ms 
mapping data assosiation time 17.137174 ms 
mapping solver time 15.299105 ms 
--------------------stamp1317358216.433285951
map prepare time 2.319677 ms
map corner num 79641  surf num 31726 
build tree time 17.084695 ms 
publication time 7.358491 ms 
whole laserOdometry time 7.374384 ms 
 
mapping solver time 19.807833 ms 
mapping solver time 15.231525 ms 
prepare time 10.488483 
sort q time 4.850189 
seperate points time 10.851713 
build tree time 18.285853 ms 
publication time 18.513909 ms 
whole laserOdometry time 18.525601 ms 
 
mapping solver time 17.485580 ms 
mapping data assosiation time 17.776687 ms 
points size 79716 
mapping pub time 2.050504 ms 
whole mapping time 108.652961 ms +++++
mappingCount 2892 & avg mapping time 153.133871 ms ++++++++++++++++++++++
publication time 9.203539 ms 
whole laserOdometry time 9.217246 ms 
 
build tree time 23.220027 ms 
mapping data assosiation time 17.756972 ms 
mapping solver time 17.966453 ms 
mapping data assosiation time 16.670864 ms 
prepare time 7.858188 
sort q time 5.065805 
seperate points time 10.627102 
whole laserOdometry time 8.841918 ms 
 
-----t: 0.0349452
OdomCount 4377 & avg odom time 0.044980 ms ++++++++++++++++++++++
mapping data assosiation time 16.748286 ms 
mapping solver time 17.304340 ms 
--------------------stamp1317358216.848958015
sort q time 4.831320 
seperate points time 9.552672 
mapping pub time 2.101769 ms 
whole mapping time 107.950819 ms +++++
mappingCount 2894 & avg mapping time 153.102097 ms ++++++++++++++++++++++
-----t: 0.0324476
OdomCount 4378 & avg odom time 0.044978 ms ++++++++++++++++++++++
build tree time 23.695132 ms 
mapping data assosiation time 15.226181 ms 
mapping solver time 13.698159 ms 
mapping data assosiation time 19.240857 ms 
points size 81215 
sort q time 5.293125 
seperate points time 10.596458 
publication time 7.199706 ms 
whole laserOdometry time 7.213388 ms 
 
mapping data assosiation time 15.636600 ms 
mapping solver time 14.551284 ms 
--------------------stamp1317358217.056796073
prepare time 9.673503 
mapping optimization time 90.838399 
[0m[ INFO] [1718890299.988358936, 1317358217.087847517]: Received 115625 data points in frame camera_init with the following fields: x y z intensity[0mbuild tree time 19.092488 ms 
mapping data assosiation time 18.886201 ms 
mapping solver time 17.350953 ms 
--------------------stamp1317358217.160715103
mapping data assosiation time 20.681522 ms 
sort q time 5.273714 
seperate points time 10.263371 
scan registration time 20.112690 ms *************
mapping solver time 18.998866 ms 
mapping optimization time 95.986454 
add points time 0.759180 ms
publication time 8.663786 ms 
whole laserOdometry time 8.676608 ms 
 
build tree time 21.856002 ms 
mapping data assosiation time 16.949420 ms 
mapping solver time 15.340671 ms 
points size 81591 
--------------------stamp1317358217.368482112
sort q time 5.059970 
seperate points time 10.555617 
publication time 8.596018 ms 
whole laserOdometry time 8.624218 ms 
 
mapping pub time 1.986450 ms 
whole mapping time 111.158334 ms +++++
mappingCount 2899 & avg mapping time 153.020649 ms ++++++++++++++++++++++
1317358217.160715103 WriteOdom aft_mapped_to_init
map prepare time 2.306238 ms
map corner num 84417  surf num 33364 
build tree time 18.766522 ms 
mapping data assosiation time 17.355252 ms 
--------------------stamp1317358217.472351074
sort q time 5.084169 
seperate points time 9.912086 
scan registration time 19.894484 ms *************
mapping data assosiation time 18.116625 ms 
publication time 8.212923 ms 
whole laserOdometry time 8.229167 ms 
 
mapping solver time 14.631971 ms 
mapping optimization time 87.096791 
add points time 0.818901 ms
map prepare time 2.264698 ms
map corner num 85112  surf num 33659 
build tree time 18.413513 ms 
mapping data assosiation time 19.807670 ms 
points size 85253 
sort q time 4.674690 
seperate points time 9.687179 
publication time 7.442452 ms 
whole laserOdometry time 7.456858 ms 
 
mapping data assosiation time 22.616002 ms 
1317358217.576246976 WriteOdom laser_odom_to_init
mapping solver time 19.820179 ms 
[0m[ INFO] [1718890300.547916301, 1317358217.641560632]: Received 119777 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890300.547993611, 1317358217.641560632]: Data saved to 1317358217472351.pcd[0m
--------------------stamp1317358217.680144071
sort q time 4.997437 
seperate points time 10.846549 
publication time 8.674149 ms 
whole laserOdometry time 8.690032 ms 
 
-----t: 0.0419186
OdomCount 4386 & avg odom time 0.044959 ms ++++++++++++++++++++++
--------------------stamp1317358217.784013986
prepare time 11.928943 
1317358217.472351074 WriteOdom aft_mapped_to_init
-----t: 0.0366813
OdomCount 4387 & avg odom time 0.044957 ms ++++++++++++++++++++++
mapping data assosiation time 19.635470 ms 
mapping solver time 16.182660 ms 
--------------------stamp1317358217.887883901
sort q time 5.204165 
seperate points time 12.390686 
mapping pub time 2.333876 ms 
whole mapping time 112.084733 ms +++++
-----t: 0.0425013
OdomCount 4388 & avg odom time 0.044957 ms ++++++++++++++++++++++
build tree time 25.482609 ms 
mapping data assosiation time 18.195575 ms 
--------------------stamp1317358217.991755962
sort q time 5.314866 
seperate points time 12.009437 
publication time 9.860985 ms 
whole laserOdometry time 9.878831 ms 
 
filter time 8.242852 ms 
build tree time 19.038626 ms 
--------------------stamp1317358218.095627069
sort q time 4.806424 
seperate points time 10.376351 
publication time 8.804430 ms mapping data assosiation time 23.218916 ms 
mapping solver time 16.089892 ms 
mapping pub time 2.125788 ms 
whole mapping time 119.511321 ms +++++
mappingCount 2904 & avg mapping time 153.011637 ms ++++++++++++++++++++++
--------------------stamp1317358218.199474096
sort q time 6.015049 
seperate points time 11.256550 
publication time 8.004478 ms 
whole laserOdometry time 8.018591 ms 
 
-----t: 0.0319373
OdomCount 4391 & avg odom time 0.044949 ms ++++++++++++++++++++++
1317358218.199474096 WriteOdom laser_odom_to_init
1317358218.199474096 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.819306 ms 
mapping data assosiation time 18.185699 ms 
mapping solver time 16.428893 ms 
filter time 5.905387 ms 
points size 89000 
prepare time 8.908801 
publication time 7.953593 ms 
whole laserOdometry time 7.980669 ms 
 
mapping data assosiation time 23.700179 ms 
mapping solver time 25.057031 ms 
mapping data assosiation time 19.784402 ms 
--------------------stamp1317358218.407162904
[0m[ INFO] [1718890301.332091623, 1317358218.428459470]: Received 125394 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890301.332134184, 1317358218.428459470]: Data saved to 1317358218199474.pcd[0m
mapping pub time 3.961088 ms 
whole mapping time 134.226357 ms +++++
mappingCount 2906 & avg mapping time 152.993856 ms ++++++++++++++++++++++
1317358218.199474096 WriteOdom aft_mapped_to_init
map prepare time 3.129667 ms
map corner num 89757  surf num 35637 
build tree time 24.884302 ms 
-----t: 0.0610327
OdomCount 4393 & avg odom time 0.044956 ms ++++++++++++++++++++++
mapping solver time 16.805434 ms 
points size 88736 
prepare time 10.236362 
mapping solver time 17.389146 ms 
mapping pub time 2.307503 ms 
whole mapping time 126.160586 ms +++++
mappingCount 2907 & avg mapping time 152.984631 ms ++++++++++++++++++++++
build tree time 22.662442 ms 
mapping data assosiation time 22.082750 ms 
sort q time 5.372584 
seperate points time 11.844435 
publication time 10.269842 ms 
whole laserOdometry time 10.284958 ms 
 
mapping solver time 16.820555 ms 
filter time 5.971766 ms 
mapping pub time 2.032305 ms 
whole mapping time 127.801731 ms +++++
mappingCount 2908 & avg mapping time 152.975972 ms ++++++++++++++++++++++
1317358218.407162905 WriteOdom aft_mapped_to_init
map prepare time 2.361833 ms
map corner num 88340  surf num 31926 
build tree time 18.109278 ms 
points size 89672 
sort q time 6.126707 
seperate points time 12.688966 
mapping data assosiation time 26.281307 ms 
scan registration time 25.062508 ms *************
mapping solver time 24.510859 ms 
mapping data assosiation time 22.981775 ms 
mapping solver time 16.710434 ms 
mapping pub time 2.096792 ms 
whole mapping time 123.245045 ms +++++
mappingCount 2909 & avg mapping time 152.965753 ms ++++++++++++++++++++++
prepare time 9.226558 
sort q time 5.791021 
seperate points time 12.801667 
publication time 11.808914 ms 
whole laserOdometry time 11.826156 ms 
 
mapping solver time 21.182965 ms 
mapping data assosiation time 20.389691 ms 
prepare time 8.764718 
sort q time 5.084294 
seperate points time 11.537522 
map prepare time 3.576524 ms
map corner num 90108  surf num 32777 
build tree time 25.633526 ms 
mapping data assosiation time 22.254552 ms 
mapping solver time 17.664279 ms 
points size 94412 
mapping data assosiation time 27.522779 ms 
mapping solver time 16.089146 ms 
mapping optimization time 110.317903 
add points time 1.074226 ms
-----t: 0.0316029
OdomCount 4399 & avg odom time 0.044945 ms ++++++++++++++++++++++
1317358219.030004978 WriteOdom laser_odom_to_init
1317358219.030004978 WriteOdom aft_mapped_to_init_high_frec
map prepare time 2.716586 ms
map corner num 90851  surf num 33108 
build tree time 19.124432 ms 
--------------------stamp1317358219.133805036
prepare time 10.514977 
sort q time 5.740957 
seperate points time 12.248228 
mapping data assosiation time 28.485817 ms 
mapping solver time 21.953125 ms 
mapping optimization time 119.912654 
add points time 0.920116 ms
filter time 6.288687 ms 
--------------------stamp1317358219.237602949
prepare time 10.869291 
sort q time 5.624869 
seperate points time 12.140795 
publication time 10.932642 ms 
whole laserOdometry time 10.945192 ms 
 
mapping solver time 28.147259 ms 
1317358219.237602949 WriteOdom laser_odom_to_init
1317358219.237602949 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.094002 ms 
--------------------stamp1317358219.341402053
prepare time 12.467807 
filter time 9.445885 ms 
scan registration time 31.100821 ms *************
map prepare time 2.690804 ms
map corner num 63768  surf num 24984 
build tree time 16.145859 ms 
mapping data assosiation time 28.583243 ms 
mapping solver time 20.285941 ms 
points size 90197 
mapping data assosiation time 30.572515 ms 
mapping solver time 19.732198 ms 
mapping pub time 2.454837 ms 
whole mapping time 131.233552 ms +++++
mappingCount 2914 & avg mapping time 152.933072 ms ++++++++++++++++++++++
build tree time 13.263893 ms 
mapping data assosiation time 22.882563 ms 
sort q time 5.175280 
seperate points time 11.022102 
mapping solver time 22.398569 ms 
publication time 8.910538 ms 
whole laserOdometry time 8.930415 ms 
 
mapping solver time 16.332068 ms 
mapping pub time 1.990528 ms 
whole mapping time 118.561649 ms +++++
mappingCount 2915 & avg mapping time 152.921282 ms ++++++++++++++++++++++
build tree time 13.097335 ms 
points size 90373 
prepare time 10.669710 
mapping solver time 30.798581 ms 
publication time 9.317014 ms 
whole laserOdometry time 9.326610 ms 
 
-----t: 0.0360447
OdomCount 4405 & avg odom time 0.044948 ms ++++++++++++++++++++++
1317358219.652775049 WriteOdom laser_odom_to_init
1317358219.652775049 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.510545 ms 
mapping solver time 20.918678 ms 
--------------------stamp1317358219.756525039
build tree time 16.050089 ms 
publication time 12.015685 ms 
whole laserOdometry time 12.031555 ms 
 
mapping solver time 25.823393 ms 
mapping data assosiation time 25.249142 ms 
mapping solver time 16.792299 ms 
map prepare time 3.308909 ms
map corner num 67231  surf num 26392 
build tree time 18.349623 ms 
mapping data assosiation time 25.829487 ms 
mapping solver time 20.223336 ms 
points size 93969 
scan registration time 37.008939 ms *************
-----t: 0.0382186
OdomCount 4408 & avg odom time 0.044945 ms ++++++++++++++++++++++
map prepare time 2.657910 ms
map corner num 68050  surf num 26680 
build tree time 16.786875 ms 
--------------------stamp1317358220.067776918
prepare time 11.451882 
sort q time 5.156428 
seperate points time 11.943503 
publication time 10.016829 ms 
whole laserOdometry time 10.033022 ms 
 
mapping data assosiation time 28.601976 ms 
mapping solver time 16.129475 ms 
mapping pub time 2.150009 ms 
whole mapping time 126.737055 ms +++++
mappingCount 2919 & avg mapping time 152.887913 ms ++++++++++++++++++++++
--------------------stamp1317358220.171551942
points size 97573 
mapping data assosiation time 29.870420 ms 
mapping solver time 25.089278 ms 
mapping data assosiation time 23.724321 ms 
mapping solver time 20.913146 ms 
points size 97205 
sort q time 5.904393 
seperate points time 11.589640 
build tree time 19.108021 ms 
publication time 16.110844 ms 
mapping data assosiation time 27.554805 ms 
-----t: 0.0563176
OdomCount 4411 & avg odom time 0.044945 ms ++++++++++++++++++++++
mapping solver time 29.881034 ms 
points size 96494 
sort q time 6.109293 
seperate points time 12.504030 
add points time 1.365948 ms
1317358220.379098892 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358220.482873916
prepare time 15.384900 
sort q time 7.869025 
seperate points time 16.334360 
publication time 14.566871 ms 
whole laserOdometry time 14.583704 ms --------------------stamp1317358220.586673974
prepare time 12.418337 
map prepare time 3.662505 ms
map corner num 70573  surf num 27564 
build tree time 25.817291 ms 
-----t: 0.046378
OdomCount 4414 & avg odom time 0.044947 ms ++++++++++++++++++++++
mapping data assosiation time 27.170107 ms 
mapping solver time 20.878580 ms 
points size 95832 
mapping data assosiation time 28.902999 ms 
sort q time 6.161427 
seperate points time 12.464799 
scan registration time 28.207408 ms *************
add points time 1.069625 ms
drop lidar frame in mapping for real time performance 
build tree time 13.902175 ms 
mapping data assosiation time 21.498902 ms 
points size 91684 
sort q time 4.945226 
seperate points time 11.869754 
publication time 8.271739 ms 
whole laserOdometry time 8.289275 ms 
 
mapping data assosiation time 26.565792 ms 
mapping solver time 23.662410 ms 
mapping pub time 2.324411 ms 
whole mapping time 129.799589 ms +++++
mappingCount 2923 & avg mapping time 152.924329 ms ++++++++++++++++++++++
1317358220.586673975 WriteOdom aft_mapped_to_init
map prepare time 2.513660 ms
map corner num 72231  surf num 28211 
--------------------stamp1317358220.898142099
points size 89633 
sort q time 5.956276 
seperate points time 13.976604 
-----t: 0.0330398
OdomCount 4417 & avg odom time 0.044941 ms ++++++++++++++++++++++
mapping solver time 24.195156 ms 
mapping data assosiation time 27.846679 ms 
mapping solver time 14.976010 ms 
filter time 8.166652 ms 
sort q time 5.190145 
seperate points time 12.840536 
-----t: 0.0353609
OdomCount 4418 & avg odom time 0.044939 ms ++++++++++++++++++++++
mapping data assosiation time 26.808059 ms 
mapping solver time 19.391225 ms 
--------------------stamp1317358221.105737924
points size 87045 
sort q time 4.766351 
seperate points time 11.479520 
1317358220.898142099 WriteOdom aft_mapped_to_init
publication time 9.169960 ms 
whole laserOdometry time 9.182043 ms 
 
build tree time 17.886646 ms 
mapping data assosiation time 22.884698 ms 
--------------------stamp1317358221.209537029
points size 82867 
sort q time 5.285685 
seperate points time 12.857414 
publication time 8.804910 ms 
whole laserOdometry time 8.828666 ms 
 
mapping solver time 20.395423 ms 
mapping optimization time 110.060684 
add points time 0.880270 ms
map prepare time 2.555098 ms
map corner num 74817  surf num 29181 
build tree time 14.535901 ms 
mapping data assosiation time 20.802360 ms 
prepare time 9.284965 
sort q time 4.691915 
seperate points time 11.325069 
scan registration time 22.359463 ms *************
mapping solver time 26.440117 ms 
publication time 9.478695 ms 
whole laserOdometry time 9.510233 ms 
 
-----t: 0.0526093
OdomCount 4421 & avg odom time 0.044935 ms ++++++++++++++++++++++
mapping solver time 23.163015 ms 
mapping optimization time 114.945487 
add points time 0.788798 ms
filter time 5.211431 ms 
--------------------stamp1317358221.417135000
sort q time 5.121247 
seperate points time 12.504984 
scan registration time 25.933289 ms *************
publication time 8.483743 ms 
whole laserOdometry time 8.497332 ms 
 
mapping data assosiation time 20.152467 ms 
mapping solver time 19.149118 ms 
mapping pub time 2.174881 ms 
whole mapping time 121.965979 ms +++++
mappingCount 2928 & avg mapping time 152.878395 ms ++++++++++++++++++++++
sort q time 4.238979 
seperate points time 10.440272 
build tree time 24.816441 ms 
publication time 7.978563 ms 
whole laserOdometry time 7.990333 ms 
 
1317358221.520909070 WriteOdom laser_odom_to_init
mapping solver time 19.378655 ms 
--------------------stamp1317358221.624707937
sort q time 4.430891 
seperate points time 9.671845 
filter time 7.557727 ms 
-----t: 0.040648
OdomCount 4424 & avg odom time 0.044934 ms ++++++++++++++++++++++
mapping data assosiation time 20.487240 ms 
--------------------stamp1317358221.728533983
sort q time 3.996873 
seperate points time 9.632784 
publication time 9.744403 ms 
whole laserOdometry time 9.805912 ms 
 
filter time 5.461773 ms 
build tree time 17.012489 ms 
mapping data assosiation time 20.272630 ms 
points size 78698 
sort q time 4.000538 
seperate points time 9.765312 
publication time 8.238913 ms 
whole laserOdometry time 8.255008 ms 
 
mapping data assosiation time 24.614560 ms 
-----t: 0.030262
OdomCount 4426 & avg odom time 0.044928 ms ++++++++++++++++++++++
mapping solver time 13.965368 ms 
[0m[ INFO] [1718890304.795748568, 1317358221.892391982]: Received 109487 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890304.795805116, 1317358221.892391982]: Data saved to 1317358221624707.pcd[0m
build tree time 15.199064 ms 
--------------------stamp1317358221.936188936
sort q time 4.395945 
seperate points time 10.715921 
publication time 8.069484 ms 
whole laserOdometry time 8.085643 ms 
 
-----t: 0.0404935
OdomCount 4427 & avg odom time 0.044927 ms ++++++++++++++++++++++
mapping solver time 16.785565 ms 
1317358221.832355976 WriteOdom aft_mapped_to_init
build tree time 16.637901 ms 
points size 78076 
mapping data assosiation time 22.751285 ms 
publication time 8.597114 ms 
whole laserOdometry time 8.611894 ms 
 
mapping data assosiation time 20.807069 ms 
mapping solver time 17.352245 ms 
mapping pub time 1.740675 ms 
whole mapping time 116.986312 ms +++++
mappingCount 2933 & avg mapping time 152.821929 ms ++++++++++++++++++++++
points size 81045 
sort q time 4.947332 
seperate points time 9.921527 
publication time 8.745114 ms 
whole laserOdometry time 8.760078 ms 
 
-----t: 0.0365048
OdomCount 4429 & avg odom time 0.044923 ms ++++++++++++++++++++++
mapping solver time 23.130435 ms 
mapping data assosiation time 19.435910 ms 
--------------------stamp1317358222.247575044
map prepare time 2.747677 ms
map corner num 81336  surf num 31318 
build tree time 21.099426 ms 
-----t: 0.0357112
OdomCount 4430 & avg odom time 0.044921 ms ++++++++++++++++++++++
mapping data assosiation time 23.912379 ms 
mapping solver time 17.059724 ms 
mapping data assosiation time 21.175694 ms 
points size 91581 
sort q time 5.157436 
seperate points time 10.505450 
publication time 8.147053 ms 
whole laserOdometry time 8.162440 ms 
 
build tree time 20.083050 ms 
-----t: 0.0492395
OdomCount 4431 & avg odom time 0.044922 ms ++++++++++++++++++++++
mapping data assosiation time 23.871810 ms 
mapping solver time 22.156821 ms 
points size 93855 
mapping solver time 14.488084 ms 
map prepare time 3.525096 ms
map corner num 82644  surf num 31691 
build tree time 22.436766 ms 
mapping data assosiation time 21.127646 ms 
--------------------stamp1317358222.558948993
sort q time 5.830260 
seperate points time 13.405430 
publication time 11.195656 ms 
whole laserOdometry time 11.209323 ms 
 
mapping pub time 2.199569 ms 
whole mapping time 122.178146 ms +++++
mappingCount 2937 & avg mapping time 152.776870 ms ++++++++++++++++++++++
build tree time 16.462426 ms 
--------------------stamp1317358222.662744998
sort q time 5.930837 
seperate points time 13.166276 
publication time 9.896214 ms 
whole laserOdometry time 9.907821 ms 
 
mapping data assosiation time 27.086417 ms 
mapping solver time 19.304321 ms 
mapping optimization time 112.782442 
add points time 0.762635 ms
filter time 5.722322 ms 
--------------------stamp1317358222.766545057
sort q time 5.665936 
seperate points time 11.502751 
publication time 8.476822 ms 
whole laserOdometry time 8.489736 ms 
 
mapping solver time 25.218898 ms 
mapping data assosiation time 23.044365 ms 
mapping solver time 19.954343 ms 
mapping pub time 2.214161 ms 
whole mapping time 129.385774 ms +++++
mappingCount 2939 & avg mapping time 152.759094 ms ++++++++++++++++++++++
scan registration time 24.988728 ms *************
build tree time 23.602056 ms 
-----t: 0.0367463
OdomCount 4436 & avg odom time 0.044918 ms ++++++++++++++++++++++
mapping data assosiation time 23.255719 ms 
mapping solver time 16.566272 ms 
mapping data assosiation time 20.990414 ms 
mapping solver time 14.575170 ms 
filter time 8.085734 ms 
-----t: 0.0370261
OdomCount 4437 & avg odom time 0.044916 ms ++++++++++++++++++++++
mapping data assosiation time 19.558674 ms 
mapping solver time 17.893969 ms 
--------------------stamp1317358223.077842950
mapping data assosiation time 24.946420 ms 
mapping solver time 20.285844 ms 
mapping optimization time 102.889845 
add points time 0.827446 ms
filter time 5.808819 ms 
-----t: 0.029596
OdomCount 4438 & avg odom time 0.044913 ms ++++++++++++++++++++++
1317358223.077842950 WriteOdom laser_odom_to_init
1317358223.077842950 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718890306.021944290, 1317358223.110499675]: Received 118571 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890306.021995247, 1317358223.110499675]: Data saved to 1317358222870318.pcd[0m
--------------------stamp1317358223.181690931
sort q time 4.503383 
seperate points time 10.070445 
publication time 10.786693 ms 
whole laserOdometry time 10.835027 ms 
 
-----t: 0.0431501
OdomCount 4439 & avg odom time 0.044913 ms ++++++++++++++++++++++
mapping pub time 159.580585 ms 
whole mapping time 272.676819 ms +++++
mappingCount 2941 & avg mapping time 152.788709 ms ++++++++++++++++++++++
points size 77091 
sort q time 4.580800 
seperate points time 10.629252 
publication time 10.105049 ms 
whole laserOdometry time 10.120012 ms 
 
mapping solver time 22.368507 ms 
mapping data assosiation time 20.381988 ms 
--------------------stamp1317358223.389432907
filter time 6.976856 ms 
publication time 8.597750 ms 
whole laserOdometry time 8.617191 ms 
 
mapping data assosiation time 25.837946 ms 
-----t: 0.0605053
OdomCount 4441 & avg odom time 0.044915 ms ++++++++++++++++++++++
1317358223.389432907 WriteOdom laser_odom_to_init
1317358223.389432907 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.456070 ms 
--------------------stamp1317358223.493278980
mapping data assosiation time 22.958320 ms 
publication time 7.880784 ms 
whole laserOdometry time 7.895312 ms 
 
filter time 8.828232 ms 
build tree time 18.815527 ms 
mapping data assosiation time 20.193543 ms 
points size 78014 
sort q time 4.523339 
seperate points time 9.647490 
publication time 7.799860 ms 
whole laserOdometry time 7.814230 ms 
 
-----t: 0.0330205
OdomCount 4443 & avg odom time 0.044910 ms ++++++++++++++++++++++
filter time 5.621426 ms 
build tree time 14.406455 ms 
mapping data assosiation time 19.515888 ms 
points size 79120 
sort q time 4.365807 
seperate points time 10.464437 
publication time 6.876274 ms 
whole laserOdometry time 6.893145 ms 
 
mapping solver time 18.235203 ms 
mapping optimization time 99.603210 
add points time 0.745568 ms
filter time 4.585068 ms 
build tree time 12.497728 ms 
--------------------stamp1317358223.804797887
sort q time 4.582505 
seperate points time 9.418712 
publication time 8.082702 ms 
whole laserOdometry time 8.094764 ms 
 
-----t: 0.0340522
OdomCount 4445 & avg odom time 0.044905 ms ++++++++++++++++++++++
mapping solver time 16.425205 ms 
1317358223.700951099 WriteOdom aft_mapped_to_init
build tree time 14.549778 ms 
--------------------stamp1317358223.908643960
points size 82606 
sort q time 4.701488 
seperate points time 11.353852 
mapping solver time 29.228718 ms 
-----t: 0.0520189
OdomCount 4446 & avg odom time 0.044906 ms ++++++++++++++++++++++
mapping solver time 16.427269 ms 
map prepare time 2.026110 ms
map corner num 62922  surf num 25707 
points size 83080 
sort q time 4.959647 
seperate points time 11.899938 
mapping data assosiation time 27.253699 ms 
1317358224.012515068 WriteOdom laser_odom_to_init
mapping data assosiation time 21.204050 ms 
--------------------stamp1317358224.116409063
mapping pub time 2.203290 ms 
whole mapping time 119.321607 ms +++++
mappingCount 2948 & avg mapping time 152.708027 ms ++++++++++++++++++++++
1317358223.908643961 WriteOdom aft_mapped_to_init
sort q time 5.033048 
seperate points time 12.096903 
publication time 10.210201 ms 
whole laserOdometry time 10.220497 ms 
 
mapping data assosiation time 26.336459 ms 
mapping solver time 17.690395 ms 
mapping data assosiation time 21.003465 ms 
points size 83431 
mapping pub time 1.967309 ms 
whole mapping time 109.496193 ms +++++
mappingCount 2949 & avg mapping time 152.693376 ms ++++++++++++++++++++++
publication time 8.729574 ms 
whole laserOdometry time 8.744428 ms 
 
mapping data assosiation time 22.879593 ms 
mapping solver time 21.942253 ms 
--------------------stamp1317358224.324152946
sort q time 4.547396 
seperate points time 9.430718 
filter time 5.278048 ms 
-----t: 0.0350307
OdomCount 4450 & avg odom time 0.044905 ms ++++++++++++++++++++++
mapping data assosiation time 19.066525 ms 
mapping solver time 20.975572 ms 
--------------------stamp1317358224.427998065
mapping data assosiation time 25.754189 ms 
mapping solver time 20.074307 ms 
-----t: 0.0472575
OdomCount 4451 & avg odom time 0.044906 ms ++++++++++++++++++++++
1317358224.427998065 WriteOdom laser_odom_to_init
1317358224.427998065 WriteOdom aft_mapped_to_init_high_frec
map prepare time 3.017962 ms
map corner num 65470  surf num 26765 
build tree time 18.082145 ms 
--------------------stamp1317358224.531821966
sort q time 4.182273 
seperate points time 9.452266 
mapping solver time 28.335785 ms 
publication time 9.062413 ms 
whole laserOdometry time 9.078213 ms 
 
-----t: 0.0480931
OdomCount 4452 & avg odom time 0.044907 ms ++++++++++++++++++++++
mapping solver time 22.540255 ms 
filter time 6.935331 ms 
points size 82234 
build tree time 18.567343 ms 
sort q time 4.848722 
seperate points time 10.841765 
scan registration time 20.491218 ms *************
publication time 8.304058 ms 
whole laserOdometry time 8.318920 ms 
 
-----t: 0.0460422
OdomCount 4453 & avg odom time 0.044907 ms ++++++++++++++++++++++
mapping solver time 28.529056 ms 
mapping data assosiation time 25.109588 ms 
points size 81159 
sort q time 4.877610 
seperate points time 10.710961 
mapping pub time 2.166448 ms 
whole mapping time 138.231401 ms +++++
mappingCount 2953 & avg mapping time 152.658430 ms ++++++++++++++++++++++
-----t: 0.0377288
OdomCount 4454 & avg odom time 0.044905 ms ++++++++++++++++++++++
1317358224.739320993 WriteOdom laser_odom_to_init
1317358224.739320993 WriteOdom aft_mapped_to_init_high_frec
build tree time 20.336023 ms 
mapping data assosiation time 21.664913 ms 
mapping solver time 20.888504 ms 
points size 81151 
mapping data assosiation time 23.683316 ms 
publication time 7.882632 ms 
whole laserOdometry time 7.900025 ms 
 
-----t: 0.0325258
OdomCount 4455 & avg odom time 0.044902 ms ++++++++++++++++++++++
build tree time 13.665782 ms 
mapping data assosiation time 21.247842 ms 
--------------------stamp1317358224.946727991
sort q time 5.192995 
seperate points time 10.154885 
mapping data assosiation time 24.991843 ms 
-----t: 0.030944
OdomCount 4456 & avg odom time 0.044899 ms ++++++++++++++++++++++
filter time 4.911449 ms 
build tree time 15.429454 ms 
mapping data assosiation time 20.975992 ms 
sort q time 4.331456 
seperate points time 10.207098 
publication time 7.850784 ms 
whole laserOdometry time 7.884298 ms 
 
mapping solver time 18.490886 ms 
[0m[ INFO] [1718890308.025602687, 1317358225.123014629]: Received 97515 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890308.025636398, 1317358225.123014629]: Data saved to 1317358224946727.pcd[0m
build tree time 19.673878 ms 
prepare time 9.921394 
mapping data assosiation time 27.690923 ms 
mapping solver time 24.223749 ms 
-----t: 0.0535423
OdomCount 4458 & avg odom time 0.044898 ms ++++++++++++++++++++++
mapping data assosiation time 30.024912 ms 
mapping solver time 18.014680 ms 
mapping pub time 2.020474 ms 
whole mapping time 134.789331 ms +++++
mappingCount 2957 & avg mapping time 152.615934 ms ++++++++++++++++++++++
sort q time 14.410956 
seperate points time 21.755720 
-----t: 0.0389567
OdomCount 4459 & avg odom time 0.044897 ms ++++++++++++++++++++++
mapping data assosiation time 29.686166 ms 
mapping solver time 27.378952 ms 
--------------------stamp1317358225.361272096
points size 87202 
sort q time 4.872367 
seperate points time 11.767645 
mapping solver time 24.189059 ms 
mapping pub time 2.247802 ms 
whole mapping time 147.142790 ms +++++
mappingCount 2958 & avg mapping time 152.614085 ms ++++++++++++++++++++++
build tree time 21.481265 ms 
--------------------stamp1317358225.464926004
-----t: 0.103108
OdomCount 4460 & avg odom time 0.044910 ms ++++++++++++++++++++++
sort q time 5.226564 
seperate points time 11.634543 
mapping data assosiation time 29.625195 ms 
mapping solver time 21.792552 ms 
--------------------stamp1317358225.568603992
points size 94573 
build tree time 20.188972 ms 
publication time 9.508143 ms 
whole laserOdometry time 9.544171 ms 
 
mapping solver time 27.837987 ms 
--------------------stamp1317358225.672308921
sort q time 5.190840 
seperate points time 11.630543 
filter time 6.579384 ms 
-----t: 0.059301
OdomCount 4463 & avg odom time 0.044915 ms ++++++++++++++++++++++
mapping data assosiation time 24.881478 ms 
--------------------stamp1317358225.776036024
mapping solver time 26.274305 ms 
sort q time 6.028605 
seperate points time 14.126803 
mapping data assosiation time 31.530597 ms 
-----t: 0.0512279
OdomCount 4464 & avg odom time 0.044916 ms ++++++++++++++++++++++
filter time 5.481008 ms 
--------------------stamp1317358225.879760980
points size 102395 
prepare time 14.558957 
sort q time 6.301131 
seperate points time 28.901815 
scan registration time 49.786852 ms *************
publication time 17.082186 ms 
whole laserOdometry time 17.111953 ms 
 
--------------------stamp1317358225.983513116
prepare time 18.121333 
sort q time 7.533468 
seperate points time 15.650320 publication time 13.268235 ms 
whole laserOdometry time 13.299613 ms 
 
-----t: 0.0708559
OdomCount 4466 & avg odom time 0.044932 ms ++++++++++++++++++++++
--------------------stamp1317358226.087289094
sort q time 6.457592 
seperate points time 13.883510 
publication time 10.677864 ms 
whole laserOdometry time 10.691126 ms 
 
mapping data assosiation time 32.022763 ms 
mapping solver time 20.910532 ms 
mapping pub time 2.506702 ms 
whole mapping time 143.275892 ms +++++
mappingCount 2962 & avg mapping time 152.667996 ms ++++++++++++++++++++++
sort q time 6.300498 
seperate points time 14.911261 
publication time 15.525256 ms 
whole laserOdometry time 15.538564 ms 
 
mapping solver time 25.325986 ms 
--------------------stamp1317358226.294884920
--------------------stamp1317358226.398684024
prepare time 12.040382 
sort q time 6.286983 
seperate points time 13.199286 
publication time 11.312891 ms 
whole laserOdometry time 11.738382 ms 
 
mapping data assosiation time 32.056435 ms 
mapping solver time 24.625175 ms 
filter time 5.967560 ms 
map prepare time 3.932216 ms
map corner num 76641  surf num 31120 
points size 101458 
build tree time 21.710278 ms 
scan registration time 36.364217 ms *************
-----t: 0.0395516
OdomCount 4471 & avg odom time 0.044935 ms ++++++++++++++++++++++
mapping solver time 27.979620 ms 
--------------------stamp1317358226.606451988
points size 100645 
sort q time 5.791484 
seperate points time 12.843318 
filter time 8.681505 ms 
-----t: 0.0450761
OdomCount 4472 & avg odom time 0.044935 ms ++++++++++++++++++++++
build tree time 20.264549 ms 
mapping data assosiation time 27.844332 ms 
points size 99125 
prepare time 12.420114 
scan registration time 30.418804 ms *************
mapping data assosiation time 29.942893 ms 
-----t: 0.0518087
OdomCount 4473 & avg odom time 0.044936 ms ++++++++++++++++++++++
filter time 7.553718 ms 
--------------------stamp1317358226.814408063
prepare time 11.533110 
sort q time 5.749837 
seperate points time 12.946103 
publication time 9.700322 ms 
whole laserOdometry time 9.714919 ms 
 
mapping solver time 30.560012 ms 
mapping data assosiation time 28.469572 ms 
points size 95567 
mapping pub time 2.530474 ms 
whole mapping time 143.350888 ms +++++
mappingCount 2967 & avg mapping time 152.656292 ms ++++++++++++++++++++++
1317358226.606451988 WriteOdom aft_mapped_to_init
map prepare time 3.654857 ms
map corner num 79552  surf num 32096 
sort q time 5.663773 
seperate points time 26.620167 
publication time 13.398254 ms 
whole laserOdometry time 13.413203 ms 
 
--------------------stamp1317358227.022507905
prepare time 12.276388 
sort q time 5.488236 
seperate points time 13.326609 
mapping data assosiation time 33.401343 ms 
-----t: 0.0489706
OdomCount 4476 & avg odom time 0.044944 ms ++++++++++++++++++++++
mapping solver time 34.391608 ms 
mapping pub time 2.221085 ms 
whole mapping time 168.462696 ms +++++
mappingCount 2968 & avg mapping time 152.661619 ms ++++++++++++++++++++++
1317358226.814408064 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 2.506899 ms
map corner num 80469  surf num 32425 
points size 93686 
sort q time 6.527106 
seperate points time 13.160292 
-----t: 0.0511347
OdomCount 4477 & avg odom time 0.044945 ms ++++++++++++++++++++++
mapping solver time 34.933374 ms 
--------------------stamp1317358227.230777978
sort q time 4.858097 
seperate points time 11.367909 
scan registration time 23.841950 ms *************
publication time 11.081238 ms 
whole laserOdometry time 11.120438 ms 
 
build tree time 20.827310 ms 
mapping data assosiation time 24.645343 ms 
--------------------stamp1317358227.334935903
prepare time 8.917564 
sort q time 6.031779 
seperate points time 11.850428 
mapping data assosiation time 30.782752 ms 
-----t: 0.0412495
OdomCount 4479 & avg odom time 0.044943 ms ++++++++++++++++++++++
filter time 5.507907 ms 
build tree time 19.889640 ms 
points size 91444 
sort q time 4.528908 
seperate points time 10.523529 
publication time 7.447508 ms 
whole laserOdometry time 7.464942 ms 
 
-----t: 0.0394372
OdomCount 4480 & avg odom time 0.044942 ms ++++++++++++++++++++++
mapping data assosiation time 23.198793 ms 
--------------------stamp1317358227.543350934
[0m[ INFO] [1718890310.454738538, 1317358227.552147767]: Received 116220 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890310.454797395, 1317358227.552147767]: Data saved to 1317358227230777.pcd[0m
publication time 8.602726 ms 
whole laserOdometry time 8.617536 ms 
 
build tree time 20.094274 ms 
mapping data assosiation time 32.369124 ms 
-----t: 0.0802421
OdomCount 4481 & avg odom time 0.044950 ms ++++++++++++++++++++++
points size 88663 
sort q time 5.508144 
seperate points time 12.931402 
scan registration time 27.022878 ms *************
publication time 9.110727 ms 
whole laserOdometry time 9.124535 ms 
 
mapping solver time 29.969980 ms 
mapping pub time 2.272480 ms 
whole mapping time 160.347519 ms +++++
mappingCount 2972 & avg mapping time 152.657368 ms ++++++++++++++++++++++
1317358227.439120054 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
-----t: 0.0597775
OdomCount 4482 & avg odom time 0.044953 ms ++++++++++++++++++++++
1317358227.647629022 WriteOdom laser_odom_to_init
1317358227.647629022 WriteOdom aft_mapped_to_init_high_frec
build tree time 23.727292 ms 
points size 89493 
sort q time 5.325338 
seperate points time 12.785812 
publication time 13.059131 ms 
whole laserOdometry time 13.071101 ms 
 
mapping solver time 39.347244 ms 
mapping data assosiation time 28.343898 ms 
--------------------stamp1317358227.856329917
sort q time 6.380393 
seperate points time 12.042550 
filter time 8.735817 ms 
-----t: 0.0481716
OdomCount 4484 & avg odom time 0.044956 ms ++++++++++++++++++++++
mapping data assosiation time 26.715144 ms 
points size 89925 
sort q time 5.568338 
seperate points time 11.481516 
publication time 9.715083 ms 
whole laserOdometry time 9.723422 ms 
 
mapping data assosiation time 31.588553 ms 
mapping solver time 28.978087 ms 
filter time 5.856110 ms 
mapping pub time 2.084071 ms 
whole mapping time 157.178828 ms +++++
mappingCount 2974 & avg mapping time 152.664994 ms ++++++++++++++++++++++
1317358227.751955986 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 91649 
sort q time 5.665030 
seperate points time 11.928831 
publication time 8.763904 ms 
whole laserOdometry time 8.779472 ms 
 
-----t: 0.0441039
OdomCount 4486 & avg odom time 0.044956 ms ++++++++++++++++++++++
mapping solver time 30.642841 ms 
--------------------stamp1317358228.169503927
mapping pub time 2.179877 ms 
whole mapping time 156.070069 ms +++++
mappingCount 2975 & avg mapping time 152.666140 ms ++++++++++++++++++++++
build tree time 18.404872 ms 
mapping data assosiation time 26.643115 ms 
--------------------stamp1317358228.273879051
points size 94751 
sort q time 5.347419 
seperate points time 13.119337 
scan registration time 30.701034 ms *************
mapping data assosiation time 31.950508 ms 
mapping solver time 25.519874 ms 
[0m[ INFO] [1718890311.256746531, 1317358228.354841469]: Received 122567 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890311.256787470, 1317358228.354841469]: Data saved to 1317358228065128.pcd[0m
--------------------stamp1317358228.378252983
points size 96329 
sort q time 5.860321 
seperate points time 13.357596 
publication time 11.328052 ms 
whole laserOdometry time 11.348164 ms -----t: 0.0638862
OdomCount 4489 & avg odom time 0.044957 ms ++++++++++++++++++++++
--------------------stamp1317358228.482604980
prepare time 11.772094 
scan registration time 31.048773 ms *************
mapping solver time 35.639135 ms 
publication time 11.739500 ms 
whole laserOdometry time 11.756457 ms 
 
-----t: 0.0716171
OdomCount 4490 & avg odom time 0.044963 ms ++++++++++++++++++++++
--------------------stamp1317358228.586954116
scan registration time 27.728550 ms *************
publication time 12.179933 ms 
whole laserOdometry time 12.204988 ms 
 
mapping solver time 40.120534 ms 
mapping data assosiation time 29.387441 ms 
--------------------stamp1317358228.691278934
prepare time 10.577471 
filter time 8.170353 ms 
sort q time 6.712028 
seperate points time 13.676249 
mapping pub time 2.469329 ms 
whole mapping time 172.976678 ms +++++
mappingCount 2978 & avg mapping time 152.678898 ms ++++++++++++++++++++++
1317358228.378252983 WriteOdom aft_mapped_to_init
scan registration time 30.760870 ms *************
map prepare time 4.186224 ms
map corner num 89451  surf num 35630 
build tree time 24.926344 ms 
publication time 15.883373 ms 
whole laserOdometry time 15.897144 ms 
 
-----t: 0.0746761
OdomCount 4492 & avg odom time 0.044971 ms ++++++++++++++++++++++
--------------------stamp1317358228.795582056
prepare time 13.241500 
sort q time 7.029616 
seperate points time 14.070539 
mapping solver time 35.565151 ms 
publication time 9.966828 ms 
whole laserOdometry time 9.985675 ms 
 
mapping data assosiation time 35.872486 ms 
mapping solver time 22.233523 ms 
filter time 6.262983 ms 
points size 102424 
build tree time 21.007080 ms 
publication time 9.023979 ms 
whole laserOdometry time 9.041750 ms 
 
-----t: 0.0481453
OdomCount 4494 & avg odom time 0.044972 ms ++++++++++++++++++++++
1317358228.899887084 WriteOdom laser_odom_to_init
1317358228.899887084 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 28.583657 ms 
--------------------stamp1317358229.004164934
points size 103058 
sort q time 6.127087 
seperate points time 13.259677 
filter time 6.385737 ms 
publication time 10.092385 ms 
whole laserOdometry time 10.116378 ms 
 
-----t: 0.0553542
OdomCount 4495 & avg odom time 0.044975 ms ++++++++++++++++++++++
--------------------stamp1317358229.108395099
sort q time 5.256893 
seperate points time 11.584033 
publication time 10.520827 ms 
whole laserOdometry time 10.682335 ms mapping data assosiation time 33.050522 ms 
mapping solver time 18.043313 ms 
mapping optimization time 136.002524 
add points time 1.106515 ms
--------------------stamp1317358229.212601900
prepare time 10.583505 
sort q time 6.525177 
seperate points time 14.931834 
publication time 11.504922 ms 
whole laserOdometry time 11.525328 ms 
 
-----t: 0.0657462
OdomCount 4497 & avg odom time 0.044979 ms ++++++++++++++++++++++
--------------------stamp1317358229.316785097
prepare time 11.124871 
sort q time 7.041481 
seperate points time 14.240468 
publication time 11.658777 ms 
whole laserOdometry time 11.677020 ms 
 
mapping pub time 190.071248 ms 
whole mapping time 337.770182 ms +++++
mappingCount 2981 & avg mapping time 152.747961 ms ++++++++++++++++++++++
-----t: 0.0634874
OdomCount 4498 & avg odom time 0.044983 ms ++++++++++++++++++++++
1317358229.316785097 WriteOdom laser_odom_to_init
1317358229.316785097 WriteOdom aft_mapped_to_init_high_frec
build tree time 22.627572 ms 
sort q time 6.630311 
seperate points time 13.334569 
publication time 10.165620 ms 
whole laserOdometry time 10.176579 ms 
 
mapping solver time 30.596619 ms 
-----t: 0.0683041
OdomCount 4499 & avg odom time 0.044988 ms ++++++++++++++++++++++
mapping data assosiation time 32.571437 ms 
points size 102965 
add points time 1.104498 ms
scan registration time 36.444838 ms *************
publication time 11.364361 ms 
whole laserOdometry time 11.398128 ms 
 
mapping data assosiation time 27.011158 ms 
points size 102996 
sort q time 6.019464 
seperate points time 14.607718 
publication time 10.974448 ms 
whole laserOdometry time 10.986759 ms 
 
mapping data assosiation time 33.589310 ms 
mapping solver time 16.274729 ms 
mapping optimization time 142.616825 
add points time 1.002919 ms
map prepare time 3.041450 ms
map corner num 93579  surf num 37241 
points size 102923 
prepare time 11.398150 
mapping data assosiation time 35.054848 ms 
-----t: 0.0568709
OdomCount 4502 & avg odom time 0.044992 ms ++++++++++++++++++++++
--------------------stamp1317358229.837388038
prepare time 10.668022 
sort q time 5.972291 
seperate points time 12.475882 
scan registration time 27.860006 ms *************
mapping solver time 25.130580 ms 
publication time 14.883746 ms 
whole laserOdometry time 14.896771 ms 
 
build tree time 23.691005 ms 
mapping data assosiation time 30.346867 ms 
points size 102656 
prepare time 10.401785 
scan registration time 29.613057 ms *************
mapping solver time 32.238185 ms 
publication time 12.185454 ms 
whole laserOdometry time 12.218826 ms 
 
mapping data assosiation time 32.902041 ms 
mapping solver time 23.847362 ms 
mapping optimization time 144.359395 
add points time 1.012225 ms
points size 102589 
sort q time 7.461147 
seperate points time 13.941170 
publication time 10.447466 ms 
whole laserOdometry time 10.466650 ms 
 
1317358230.045609951 WriteOdom laser_odom_to_init
1317358230.045609951 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 22.691736 ms 
--------------------stamp1317358230.149672985
mapping data assosiation time 28.059623 ms 
sort q time 6.921299 
seperate points time 13.387837 
mapping solver time 28.775612 ms 
mapping pub time 5.409601 ms 
whole mapping time 160.313502 ms +++++
mappingCount 2986 & avg mapping time 152.759887 ms ++++++++++++++++++++++
map prepare time 13.502533 ms
map corner num 95823  surf num 38049 
1317358230.149672985 WriteOdom aft_mapped_to_init_high_frec
build tree time 21.201899 ms 
--------------------stamp1317358230.253709077
points size 102534 
mapping data assosiation time 33.140100 ms 
mapping solver time 23.163891 ms publication time 23.154351 ms 
whole laserOdometry time 23.168520 ms 
 
mapping data assosiation time 36.896076 ms 
points size 102646 
mapping pub time 2.612442 ms 
whole mapping time 174.144788 ms +++++
mappingCount 2987 & avg mapping time 152.767049 ms ++++++++++++++++++++++
publication time 12.154885 ms 
whole laserOdometry time 12.171379 ms 
 
-----t: 0.0776991
OdomCount 4508 & avg odom time 0.045018 ms ++++++++++++++++++++++
--------------------stamp1317358230.461667060
points size 102702 
mapping solver time 28.681002 ms 
scan registration time 34.789388 ms *************
mapping data assosiation time 34.926943 ms 
-----t: 0.0624601
OdomCount 4509 & avg odom time 0.045022 ms ++++++++++++++++++++++
filter time 7.224274 ms 
--------------------stamp1317358230.565609931
points size 102544 
build tree time 26.507793 ms 
sort q time 14.868770 
seperate points time 26.889355 
mapping data assosiation time 37.316213 ms 
-----t: 0.0619553
OdomCount 4510 & avg odom time 0.045025 ms ++++++++++++++++++++++
mapping solver time 27.826665 ms 
points size 102599 
prepare time 12.949181 
sort q time 5.895806 
seperate points time 14.746406 
mapping solver time 27.105234 ms 
filter time 9.053606 ms 
-----t: 0.076853
OdomCount 4511 & avg odom time 0.045032 ms ++++++++++++++++++++++
--------------------stamp1317358230.773497104
prepare time 11.926716 
sort q time 6.634498 
seperate points time 14.717969 
mapping data assosiation time 35.163627 ms 
scan registration time 32.134624 ms *************
publication time 11.952486 ms 
whole laserOdometry time 11.998174 ms 
 
mapping solver time 38.326297 ms 
-----t: 0.0528152
OdomCount 4512 & avg odom time 0.045034 ms ++++++++++++++++++++++
1317358230.773497104 WriteOdom laser_odom_to_init
1317358230.773497104 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 27.881944 ms 
points size 102491 
filter time 9.778057 ms 
publication time 8.664505 ms 
whole laserOdometry time 8.684486 ms 
 
-----t: 0.061311
OdomCount 4513 & avg odom time 0.045038 ms ++++++++++++++++++++++
mapping data assosiation time 29.866385 ms 
--------------------stamp1317358230.981286048
prepare time 12.148759 
sort q time 6.211847 
seperate points time 14.061305 
mapping data assosiation time 34.208886 ms 
publication time 10.728418 ms 
whole laserOdometry time 10.747664 ms 
 
mapping solver time 23.529101 ms 
filter time 7.832102 ms 
map prepare time 3.732346 ms
map corner num 97433  surf num 43248 
points size 102434 
prepare time 10.942029 
mapping data assosiation time 34.795484 ms 
mapping solver time 29.875341 ms 
--------------------stamp1317358231.189171075
sort q time 6.259943 
seperate points time 15.398114 
filter time 10.511219 ms 
build tree time 28.029463 ms 
--------------------stamp1317358231.293088912
prepare time 12.325532 
sort q time 6.272507 
seperate points time 14.195030 
mapping solver time 32.357799 ms 
publication time 13.957883 ms 
whole laserOdometry time 13.975092 ms 
 
mapping data assosiation time 33.029203 ms 
--------------------stamp1317358231.397032022
prepare time 11.257045 
drop lidar frame in mapping for real time performance 
scan registration time 37.140195 ms *************
build tree time 29.466593 ms 
-----t: 0.0626667
OdomCount 4518 & avg odom time 0.045058 ms ++++++++++++++++++++++
mapping data assosiation time 33.384497 ms 
--------------------stamp1317358231.501024007
sort q time 6.170882 
seperate points time 12.926918 
mapping data assosiation time 34.625156 ms 
publication time 12.875931 ms 
whole laserOdometry time 12.897205 ms 
 
mapping solver time 22.453092 ms 
mapping optimization time 146.521103 
add points time 1.158672 ms
map prepare time 3.162461 ms
map corner num 99520  surf num 44123 
--------------------stamp1317358231.605037927
points size 103015 
sort q time 5.779974 
seperate points time 14.262633 
publication time 13.042210 ms 
whole laserOdometry time 13.059730 ms 
 
-----t: 0.0487647
OdomCount 4520 & avg odom time 0.045064 ms ++++++++++++++++++++++
1317358231.605037927 WriteOdom laser_odom_to_init
1317358231.605037927 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.560489 ms 
--------------------stamp1317358231.709100961
points size 103177 
mapping optimization time 139.456271 
sort q time 6.094884 
seperate points time 14.220950 
scan registration time 30.511723 ms *************
publication time 11.127450 ms 
whole laserOdometry time 11.159001 ms 
 
build tree time 28.965538 ms 
--------------------stamp1317358231.813213109
prepare time 11.104212 
mapping solver time 40.358946 ms 
publication time 19.948197 ms 
whole laserOdometry time 19.968361 ms 
 
1317358231.813213109 WriteOdom laser_odom_to_init
1317358231.813213109 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 51.197839 ms 
--------------------stamp1317358231.917346954
prepare time 13.968560 
mapping solver time 27.085747 ms 
mapping optimization time 184.675009 
add points time 1.194828 ms
scan registration time 35.521213 ms *************
publication time 14.919766 ms 
whole laserOdometry time 14.939174 ms 
 
-----t: 0.081573
OdomCount 4523 & avg odom time 0.045078 ms ++++++++++++++++++++++
mapping data assosiation time 37.610306 ms 
prepare time 22.513856 
sort q time 6.461639 
seperate points time 15.645425 
publication time 10.854484 ms 
whole laserOdometry time 10.870152 ms 
 
mapping data assosiation time 39.910742 ms 
--------------------stamp1317358232.125664949
points size 103403 
map prepare time 3.809009 ms
map corner num 101659  surf num 45017 
sort q time 6.579335 
seperate points time 20.799044 
build tree time 31.091242 ms 
-----t: 0.0699184
OdomCount 4525 & avg odom time 0.045087 ms ++++++++++++++++++++++
points size 103433 
sort q time 6.490479 
seperate points time 15.959411 
publication time 11.571572 ms 
whole laserOdometry time 11.603225 ms 
 
mapping data assosiation time 36.908276 ms 
-----t: 0.0623305
OdomCount 4526 & avg odom time 0.045091 ms ++++++++++++++++++++++
mapping solver time 27.052548 ms 
filter time 8.087659 ms 
map prepare time 5.265670 ms
map corner num 102435  surf num 45290 
prepare time 13.213851 
sort q time 6.681148 
seperate points time 16.017216 
publication time 10.357841 ms 
whole laserOdometry time 10.371398 ms 
 
-----t: 0.0565695
OdomCount 4527 & avg odom time 0.045093 ms ++++++++++++++++++++++
1317358232.333909988 WriteOdom laser_odom_to_init
1317358232.333909988 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358232.437994956
points size 103396 
sort q time 7.534655 
seperate points time 18.234118 
scan registration time 42.154126 ms *************
publication time 10.963331 ms 
whole laserOdometry time 10.977051 ms 
 
mapping solver time 23.945047 ms 
filter time 9.006757 ms 
1317358232.437994956 WriteOdom laser_odom_to_init
points size 103384 
prepare time 11.646452 
build tree time 23.059667 ms 
sort q time 6.665235 
seperate points time 13.445144 
publication time 10.202916 ms 
whole laserOdometry time 10.220077 ms 
 
-----t: 0.0649143
OdomCount 4529 & avg odom time 0.045105 ms ++++++++++++++++++++++
--------------------stamp1317358232.646121025
points size 103463 
sort q time 5.848060 
seperate points time 14.202305 
mapping solver time 29.843524 ms 
publication time 11.169824 ms 
whole laserOdometry time 11.193090 ms 
 
-----t: 0.0590539
OdomCount 4530 & avg odom time 0.045108 ms ++++++++++++++++++++++
1317358232.646121025 WriteOdom laser_odom_to_init
1317358232.646121025 WriteOdom aft_mapped_to_init_high_frec
build tree time 24.632783 ms 
--------------------stamp1317358232.750184059
points size 103431 
prepare time 13.288132 
mapping data assosiation time 31.498638 ms 
sort q time 5.789395 
seperate points time 16.214030 
publication time 10.412962 ms 
whole laserOdometry time 10.429563 ms 
 
-----t: 0.0565826
OdomCount 4531 & avg odom time 0.045111 ms ++++++++++++++++++++++
mapping data assosiation time 35.262274 ms 
--------------------stamp1317358232.854247093
mapping solver time 26.549012 ms 
scan registration time 27.841178 ms *************
publication time 9.848853 ms 
whole laserOdometry time 9.863422 ms 
 
-----t: 0.0714552
OdomCount 4532 & avg odom time 0.045117 ms ++++++++++++++++++++++
--------------------stamp1317358232.958285093
points size 103205 
sort q time 13.885064 
seperate points time 23.447443 
publication time 11.231293 ms 
whole laserOdometry time 11.244489 ms 
 
mapping pub time 193.895603 ms 
whole mapping time 362.995044 ms +++++
mappingCount 3001 & avg mapping time 152.935622 ms ++++++++++++++++++++++
sort q time 6.672050 
seperate points time 16.220153 
publication time 14.895016 ms 
whole laserOdometry time 14.910724 ms 
 
mapping data assosiation time 36.749101 ms 
--------------------stamp1317358233.166220903
prepare time 17.108505 
sort q time 6.928906 
seperate points time 16.265672 
publication time 11.270746 ms 
whole laserOdometry time 11.285940 ms 
 
mapping solver time 24.368442 ms 
filter time 12.234029 ms 
--------------------stamp1317358233.270139932
prepare time 12.115487 
sort q time 6.576986 
seperate points time 15.008536 
publication time 12.371385 ms 
whole laserOdometry time 12.402916 ms 
 
-----t: 0.0581045
OdomCount 4536 & avg odom time 0.045136 ms ++++++++++++++++++++++
mapping solver time 30.695701 ms 
--------------------stamp1317358233.374010086
points size 102699 
sort q time 6.436642 
seperate points time 15.727693 
mapping solver time 24.667311 ms 
filter time 12.407540 ms 
-----t: 0.0724794
OdomCount 4537 & avg odom time 0.045142 ms ++++++++++++++++++++++
1317358233.374010086 WriteOdom laser_odom_to_init
1317358233.374010086 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358233.477807998
prepare time 12.874065 
sort q time 5.707940 
seperate points time 12.381765 
publication time 10.571963 ms 
whole laserOdometry time 10.605047 ms 
 
mapping solver time 41.376495 ms 
-----t: 0.0569437
OdomCount 4538 & avg odom time 0.045145 ms ++++++++++++++++++++++
1317358233.477807998 WriteOdom laser_odom_to_init
1317358233.477807998 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358233.581558942
prepare time 10.748724 
sort q time 6.295193 
seperate points time 12.713585 
filter time 8.532527 ms 
-----t: 0.0613772
OdomCount 4539 & avg odom time 0.045149 ms ++++++++++++++++++++++
--------------------stamp1317358233.685286045
points size 102488 
sort q time 5.707162 
seperate points time 13.992869 
publication time 11.952308 ms 
whole laserOdometry time 11.967717 ms 
 
mapping data assosiation time 34.957245 ms 
mapping solver time 18.347250 ms 
filter time 9.890276 ms 
map prepare time 4.353822 ms
map corner num 107409  surf num 47342 
prepare time 14.869066 
build tree time 32.188512 ms 
publication time 11.086214 ms 
whole laserOdometry time 11.116285 ms 
 
mapping data assosiation time 34.007051 ms 
--------------------stamp1317358233.892751932
mapping solver time 32.992690 ms 
sort q time 6.645261 
seperate points time 16.188733 
mapping data assosiation time 39.541565 ms 
mapping solver time 27.662905 ms 
filter time 10.053514 ms 
map prepare time 4.202060 ms
map corner num 108078  surf num 47733 
points size 98736 
prepare time 11.078326 
publication time 12.191639 ms 
whole laserOdometry time 12.206016 ms 
 
1317358233.996454000 WriteOdom laser_odom_to_init
1317358233.996454000 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 45.622410 ms 
--------------------stamp1317358234.100122928
prepare time 12.888357 
sort q time 6.551752 
seperate points time 16.179780 
scan registration time 36.822283 ms *************
publication time 13.991036 ms 
whole laserOdometry time 14.002704 ms 
 
-----t: 0.0639809
OdomCount 4544 & avg odom time 0.045155 ms ++++++++++++++++++++++
1317358234.100122928 WriteOdom laser_odom_to_init
1317358234.100122928 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.303133 ms 
mapping optimization time 189.938376 
add points time 1.163709 ms
map prepare time 3.693246 ms
map corner num 108794  surf num 48191 
points size 96518 
sort q time 6.203763 
seperate points time 15.288985 
publication time 15.347041 ms 
whole laserOdometry time 15.362633 ms 
 
mapping solver time 23.898614 ms 
points size 95146 
sort q time 6.879531 
seperate points time 17.037696 
publication time 13.607002 ms 
whole laserOdometry time 13.621910 ms 
 
mapping solver time 23.210784 ms 
filter time 11.182180 ms 
--------------------stamp1317358234.411084890
sort q time 6.167200 
seperate points time 15.320842 
mapping data assosiation time 39.094302 ms 
-----t: 0.0615544
OdomCount 4547 & avg odom time 0.045162 ms ++++++++++++++++++++++
--------------------stamp1317358234.514692068
prepare time 10.114928 
sort q time 5.106622 
seperate points time 11.492672 
mapping solver time 31.928340 ms 
filter time 12.599183 ms 
build tree time 26.754125 ms 
points size 85487 
sort q time 4.786639 
seperate points time 10.646442 
mapping data assosiation time 38.771668 ms 
publication time 9.824710 ms 
whole laserOdometry time 9.840951 ms 
 
mapping solver time 38.750186 ms 
mapping data assosiation time 28.353896 ms 
prepare time 9.459138 
sort q time 4.502466 
seperate points time 10.693572 
filter time 9.172557 ms 
mapping pub time 2.357261 ms 
whole mapping time 178.742932 ms +++++
mappingCount 3010 & avg mapping time 153.030180 ms ++++++++++++++++++++++
1317358234.411084890 WriteOdom aft_mapped_to_init
publication time 8.203497 ms 
whole laserOdometry time 8.221150 ms 
 
map prepare time 4.162525 ms
map corner num 113146  surf num 45278 
build tree time 27.079600 ms 
--------------------stamp1317358234.825633049
sort q time 4.905859 
seperate points time 10.603360 
mapping solver time 32.698065 ms 
-----t: 0.0362596
OdomCount 4551 & avg odom time 0.045162 ms ++++++++++++++++++++++
mapping data assosiation time 32.061820 ms 
mapping solver time 30.370260 ms 
filter time 11.049270 ms 
map prepare time 4.180530 ms
map corner num 113844  surf num 45568 
publication time 8.559163 ms 
whole laserOdometry time 8.575160 ms 
 
build tree time 30.898890 ms 
-----t: 0.0601842
OdomCount 4552 & avg odom time 0.045166 ms ++++++++++++++++++++++
--------------------stamp1317358235.033014059
sort q time 4.762710 
seperate points time 9.996857 
publication time 10.789619 ms 
whole laserOdometry time 10.827885 ms 
 
-----t: 0.058171
OdomCount 4553 & avg odom time 0.045169 ms ++++++++++++++++++++++
filter time 8.533046 ms 
--------------------stamp1317358235.136742115
points size 76841 
prepare time 9.141117 
build tree time 35.690025 ms 
publication time 10.995544 ms 
whole laserOdometry time 11.008369 ms 
 
-----t: 0.0443664
OdomCount 4554 & avg odom time 0.045168 ms ++++++++++++++++++++++
mapping solver time 29.576113 ms 
points size 75508 
sort q time 4.240241 
seperate points time 9.260906 
mapping data assosiation time 39.303392 ms 
publication time 13.812123 ms 
whole laserOdometry time 13.828928 ms 
 
-----t: 0.0459738
OdomCount 4555 & avg odom time 0.045169 ms ++++++++++++++++++++++
filter time 8.579350 ms 
--------------------stamp1317358235.344196081
sort q time 4.812074 
seperate points time 12.007796 
publication time 9.962985 ms 
whole laserOdometry time 9.978992 ms 
 
mapping solver time 30.155557 ms 
--------------------stamp1317358235.447922945
sort q time 3.907767 
seperate points time 10.047416 
mapping solver time 28.937890 ms 
mapping optimization time 158.394218 
publication time 9.963395 ms 
whole laserOdometry time 9.983355 ms 
 
add points time 1.677182 ms
-----t: 0.0442469
OdomCount 4557 & avg odom time 0.045167 ms ++++++++++++++++++++++
build tree time 26.362359 ms 
--------------------stamp1317358235.551697015
mapping data assosiation time 33.348048 ms 
mapping solver time 30.102227 ms 
mapping data assosiation time 31.015807 ms 
mapping optimization time 146.366010 
filter time 11.914026 ms 
sort q time 4.087715 
seperate points time 10.472677 
publication time 8.204607 ms 
whole laserOdometry time 8.220562 ms 
 
mapping data assosiation time 28.070011 ms 
mapping solver time 27.256978 ms 
points size 74762 
sort q time 4.747204 
seperate points time 11.879675 
mapping data assosiation time 36.506685 ms 
publication time 9.233340 ms 
whole laserOdometry time 9.254471 ms 
 
mapping solver time 26.963299 ms 
filter time 10.895080 ms 
1317358235.551697016 WriteOdom aft_mapped_to_init
--------------------stamp1317358235.863140106
build tree time 30.593094 ms 
publication time 8.917334 ms 
whole laserOdometry time 8.935315 ms 
 
-----t: 0.0381298
OdomCount 4561 & avg odom time 0.045158 ms ++++++++++++++++++++++
mapping solver time 30.385524 ms 
--------------------stamp1317358235.967010021
points size 76133 
sort q time 4.061168 
seperate points time 10.461582 
add points time 1.457217 ms
filter time 14.671719 ms 
1317358235.967010021 WriteOdom laser_odom_to_init
1317358235.967010021 WriteOdom aft_mapped_to_init_high_frec
points size 75348 
scan registration time 19.802385 ms *************
publication time 8.329520 ms 
whole laserOdometry time 8.344228 ms 
 
mapping solver time 35.581580 ms 
-----t: 0.0555468
OdomCount 4563 & avg odom time 0.045169 ms ++++++++++++++++++++++
mapping data assosiation time 34.811683 ms 
--------------------stamp1317358236.174777030
points size 76038 
sort q time 4.342736 
seperate points time 11.187261 
map prepare time 4.158644 ms
map corner num 152956  surf num 57776 
-----t: 0.0426412
OdomCount 4564 & avg odom time 0.045168 ms ++++++++++++++++++++++
build tree time 39.201224 ms 
--------------------stamp1317358236.278670072
sort q time 4.398553 
seperate points time 10.916760 
mapping solver time 37.701592 ms 
-----t: 0.0435557
OdomCount 4565 & avg odom time 0.045168 ms ++++++++++++++++++++++
mapping data assosiation time 35.037166 ms 
mapping solver time 23.421721 ms 
points size 79954 
mapping pub time 2.227002 ms 
whole mapping time 189.415569 ms +++++
mappingCount 3019 & avg mapping time 153.109760 ms ++++++++++++++++++++++
publication time 8.548578 ms 
whole laserOdometry time 8.566266 ms 
 
-----t: 0.0384144
OdomCount 4566 & avg odom time 0.045166 ms ++++++++++++++++++++++
build tree time 42.604606 ms 
mapping data assosiation time 28.112553 ms 
points size 80380 
sort q time 4.314253 
seperate points time 10.652245 
publication time 9.233896 ms 
whole laserOdometry time 9.247813 ms 
 
1317358236.486365079 WriteOdom laser_odom_to_init
1317358236.486365079 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 34.030714 ms 
mapping solver time 18.736396 ms 
filter time 10.399410 ms 
--------------------stamp1317358236.590235948
sort q time 4.683516 
seperate points time 10.687101 
publication time 11.152676 ms 
whole laserOdometry time 11.171234 ms 
 
mapping data assosiation time 34.334431 ms 
mapping solver time 29.544149 ms 
--------------------stamp1317358236.694107055
sort q time 4.268730 
seperate points time 9.300070 
publication time 9.121054 ms 
whole laserOdometry time 9.136143 ms 
 
-----t: 0.033576
OdomCount 4569 & avg odom time 0.045160 ms ++++++++++++++++++++++
filter time 10.955176 ms 
--------------------stamp1317358236.798002958
sort q time 4.498929 
seperate points time 10.118539 
publication time 9.662522 ms 
whole laserOdometry time 9.676722 ms 
 
1317358236.798002958 WriteOdom laser_odom_to_init
1317358236.798002958 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358236.901896953
points size 77393 
sort q time 4.495242 
seperate points time 9.641805 
publication time 10.172072 ms 
whole laserOdometry time 10.187023 ms 
 
-----t: 0.0455797
OdomCount 4571 & avg odom time 0.045165 ms ++++++++++++++++++++++
--------------------stamp1317358237.005790948
points size 77146 
prepare time 9.693006 
sort q time 4.382374 
seperate points time 11.015887 
publication time 9.743372 ms 
whole laserOdometry time 9.756141 ms 
 
mapping solver time 39.436401 ms 
mapping data assosiation time 38.962229 ms 
points size 77181 
-----t: 0.110845
OdomCount 4572 & avg odom time 0.045180 ms ++++++++++++++++++++++
map prepare time 3.612259 ms
map corner num 156061  surf num 58792 
build tree time 44.471470 ms 
--------------------stamp1317358237.213606119
points size 77093 
sort q time 4.531382 
seperate points time 11.232857 
publication time 11.988038 ms 
whole laserOdometry time 12.002353 ms 
 
-----t: 0.0466338
OdomCount 4574 & avg odom time 0.045183 ms ++++++++++++++++++++++
mapping data assosiation time 32.987195 ms 
--------------------stamp1317358237.317473888
sort q time 4.269363 
seperate points time 10.665554 
publication time 9.264879 ms 
whole laserOdometry time 9.303886 ms 
 
-----t: 0.0462631
OdomCount 4575 & avg odom time 0.045183 ms ++++++++++++++++++++++
1317358237.317473888 WriteOdom laser_odom_to_init
1317358237.317473888 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358237.421345949
sort q time 4.501054 
seperate points time 9.198846 
mapping solver time 35.049417 ms 
-----t: 0.0524791
OdomCount 4576 & avg odom time 0.045185 ms ++++++++++++++++++++++
mapping solver time 22.082474 ms 
--------------------stamp1317358237.525192975
drop lidar frame in mapping for real time performance 
publication time 8.710213 ms 
whole laserOdometry time 8.723830 ms 
 
-----t: 0.0345786
OdomCount 4577 & avg odom time 0.045183 ms ++++++++++++++++++++++
mapping data assosiation time 26.202667 ms 
--------------------stamp1317358237.629039049
sort q time 4.063843 
seperate points time 9.666249 
publication time 11.188420 ms mapping optimization time 158.784764 
add points time 1.214228 ms
mapping pub time 1.691422 ms 
whole mapping time 176.955166 ms +++++
mappingCount 3025 & avg mapping time 153.235530 ms ++++++++++++++++++++++
--------------------stamp1317358237.732886075
scan registration time 17.535633 ms *************
publication time 7.314412 ms 
whole laserOdometry time 7.348275 ms 
 
mapping data assosiation time 29.579862 ms 
mapping solver time 26.225575 ms 
--------------------stamp1317358237.836685895
sort q time 4.593278 
seperate points time 9.279256 
publication time 7.347266 ms 
whole laserOdometry time 7.354925 ms 
 
mapping solver time 29.232481 ms 
mapping optimization time 151.940228 
add points time 1.483798 ms
1317358237.525192976 WriteOdom aft_mapped_to_init
-----t: 0.0716811
OdomCount 4580 & avg odom time 0.045182 ms ++++++++++++++++++++++
--------------------stamp1317358237.940485954
prepare time 8.908647 
sort q time 4.419907 
seperate points time 10.819089 
publication time 7.338170 ms 
whole laserOdometry time 7.352747 ms 
 
-----t: 0.04176
OdomCount 4581 & avg odom time 0.045182 ms ++++++++++++++++++++++
mapping solver time 29.770434 ms 
mapping data assosiation time 24.656892 ms 
points size 63758 
sort q time 3.372499 
seperate points time 8.277724 
scan registration time 18.000602 ms *************
mapping solver time 27.517344 ms 
mapping optimization time 161.152910 
add points time 1.312141 ms
drop lidar frame in mapping for real time performance 
-----t: 0.0428107
OdomCount 4582 & avg odom time 0.045181 ms ++++++++++++++++++++++
build tree time 41.025529 ms 
--------------------stamp1317358238.148104906
sort q time 3.823788 
seperate points time 7.650124 
publication time 4.867488 ms 
whole laserOdometry time 4.880609 ms 
 
mapping solver time 29.742994 ms 
-----t: 0.0451422
OdomCount 4583 & avg odom time 0.045181 ms ++++++++++++++++++++++
1317358238.148104906 WriteOdom laser_odom_to_init
1317358238.148104906 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 28.579205 ms 
mapping solver time 23.754107 ms 
--------------------stamp1317358238.251903057
sort q time 3.137107 
seperate points time 7.147633 
publication time 8.388055 ms 
whole laserOdometry time 8.403698 ms 
 
-----t: 0.0334921
OdomCount 4584 & avg odom time 0.045179 ms ++++++++++++++++++++++
mapping data assosiation time 18.269904 ms 
mapping solver time 21.560884 ms 
points size 60189 
prepare time 7.961156 
scan registration time 33.290435 ms *************
publication time 7.085552 ms 
whole laserOdometry time 7.098700 ms 
 
1317358238.148104906 WriteOdom aft_mapped_to_init
-----t: 0.05753
OdomCount 4585 & avg odom time 0.045181 ms ++++++++++++++++++++++
--------------------stamp1317358238.459598064
sort q time 3.363818 
seperate points time 7.449033 
scan registration time 17.072141 ms *************
-----t: 0.0282639
OdomCount 4586 & avg odom time 0.045178 ms ++++++++++++++++++++++
mapping data assosiation time 18.419913 ms 
mapping solver time 15.080098 ms 
filter time 11.300469 ms 
points size 63209 
sort q time 3.721309 
seperate points time 8.948153 
build tree time 43.857551 ms 
mapping data assosiation time 18.115906 ms 
mapping solver time 18.763966 ms 
mapping data assosiation time 18.270066 ms 
points size 62678 
scan registration time 15.793279 ms *************
filter time 15.313963 ms 
-----t: 0.0434169
OdomCount 4588 & avg odom time 0.045174 ms ++++++++++++++++++++++
build tree time 39.369060 ms 
mapping data assosiation time 17.483916 ms 
points size 61806 
sort q time 3.239929 
seperate points time 7.563962 
scan registration time 15.440843 ms *************
publication time 6.662148 ms 
whole laserOdometry time 6.674152 ms 
 
mapping solver time 16.352183 ms 
filter time 10.682498 ms 
--------------------stamp1317358238.875128984
build tree time 40.431826 ms 
publication time 9.530440 ms 
mapping solver time 21.437089 ms 
-----t: 0.0561717
OdomCount 4590 & avg odom time 0.045174 ms ++++++++++++++++++++++
mapping solver time 16.013853 ms 
points size 60890 
publication time 5.826179 ms 
whole laserOdometry time 5.836620 ms 
 
build tree time 47.570448 ms 
mapping data assosiation time 21.273918 ms 
--------------------stamp1317358239.082916975
mapping data assosiation time 21.528780 ms publication time 7.186702 ms -----t: 0.0360572
OdomCount 4592 & avg odom time 0.045174 ms ++++++++++++++++++++++
mapping pub time 1.391346 ms 
whole mapping time 157.241010 ms +++++
mappingCount 3034 & avg mapping time 153.246320 ms ++++++++++++++++++++++
--------------------stamp1317358239.186837911
sort q time 4.002828 
seperate points time 8.348628 
publication time 7.840135 ms 
whole laserOdometry time 7.852275 ms 
 
mapping solver time 25.098251 ms 
mapping data assosiation time 20.183018 ms 
mapping solver time 16.630164 ms 
filter time 11.032891 ms 
points size 68216 
scan registration time 19.089237 ms *************build tree time 47.407851 ms 
mapping data assosiation time 20.884242 ms 
mapping solver time 16.483652 ms 
--------------------stamp1317358239.394649982
sort q time 3.745498 
seperate points time 8.027774 
publication time 7.435141 ms 
whole laserOdometry time 7.462742 ms 
 
[0m[ INFO] [1718890322.335420105, 1317358239.433080696]: Received 226212 data points in frame camera_init with the following fields: x y z intensity[0m
build tree time 34.393661 ms 
mapping data assosiation time 18.296017 ms 
points size 70856 
scan registration time 18.557048 ms *************
mapping data assosiation time 20.553562 ms 
-----t: 0.0330705
OdomCount 4596 & avg odom time 0.045167 ms ++++++++++++++++++++++
1317358239.498543977 WriteOdom laser_odom_to_init
filter time 11.445448 ms 
mapping pub time 1.506221 ms 
whole mapping time 123.446492 ms +++++
mappingCount 3037 & avg mapping time 153.229460 ms ++++++++++++++++++++++
1317358239.290756941 WriteOdom aft_mapped_to_init
map prepare time 2.674975 ms
map corner num 165261  surf num 61570 
--------------------stamp1317358239.602438926
sort q time 4.567407 
seperate points time 8.838524 
scan registration time 18.370110 ms *************
publication time 9.372616 ms 
whole laserOdometry time 9.387516 ms 
 
mapping data assosiation time 17.882597 ms 
mapping solver time 16.668744 ms 
filter time 10.871818 ms 
points size 76873 
sort q time 5.040613 
seperate points time 24.566777 
build tree time 49.297851 ms 
mapping data assosiation time 19.060687 ms 
mapping solver time 18.940796 ms 
--------------------stamp1317358239.810276031
mapping solver time 17.005863 ms 
filter time 15.318771 ms 
mapping pub time 1.873376 ms 
whole mapping time 145.008309 ms +++++
mappingCount 3039 & avg mapping time 153.221312 ms ++++++++++++++++++++++
1317358239.602438927 WriteOdom aft_mapped_to_init
publication time 7.573871 ms 
whole laserOdometry time 7.592583 ms 
 
map prepare time 4.030305 ms
map corner num 166219  surf num 61919 
-----t: 0.0689764
OdomCount 4599 & avg odom time 0.045167 ms ++++++++++++++++++++++
--------------------stamp1317358239.914266109
sort q time 4.285537 
seperate points time 10.383691 
scan registration time 22.623660 ms *************
mapping solver time 23.720113 ms 
mapping data assosiation time 22.205913 ms 
-----t: 0.0481852
OdomCount 4600 & avg odom time 0.045167 ms ++++++++++++++++++++++
filter time 11.193646 ms 
--------------------stamp1317358240.018256902
sort q time 4.478982 
seperate points time 10.267996 
publication time 7.484110 ms 
whole laserOdometry time 7.497164 ms 
 
mapping data assosiation time 22.513068 ms 
mapping solver time 20.148746 ms 
mapping data assosiation time 16.513076 ms 
--------------------stamp1317358240.122200965
filter time 11.691399 ms 
publication time 9.682438 ms 
whole laserOdometry time 9.695426 ms 
 
-----t: 0.0857151
OdomCount 4602 & avg odom time 0.045174 ms ++++++++++++++++++++++
1317358240.122200965 WriteOdom laser_odom_to_init
prepare time 8.705731 
scan registration time 21.084124 ms *************
publication time 8.805883 ms 
whole laserOdometry time 8.821800 ms 
 
-----t: 0.0488595
OdomCount 4603 & avg odom time 0.045175 ms ++++++++++++++++++++++
mapping pub time 190.005488 ms 
whole mapping time 329.769683 ms +++++
mappingCount 3041 & avg mapping time 153.277178 ms ++++++++++++++++++++++
points size 79475 
sort q time 4.526260 
seperate points time 10.819811 
-----t: 0.0371111
OdomCount 4604 & avg odom time 0.045174 ms ++++++++++++++++++++++
mapping data assosiation time 17.869603 ms 
mapping solver time 17.365577 ms 
mapping data assosiation time 18.329454 ms 
mapping solver time 17.810206 ms 
filter time 15.292037 ms 
-----t: 0.0417242
OdomCount 4605 & avg odom time 0.045173 ms ++++++++++++++++++++++
build tree time 54.032918 ms 
points size 76116 
sort q time 4.845873 
seperate points time 9.543431 
publication time 8.529874 ms 
whole laserOdometry time 8.544855 ms 
 
-----t: 0.0352162
OdomCount 4606 & avg odom time 0.045171 ms ++++++++++++++++++++++
mapping data assosiation time 20.805114 ms 
mapping solver time 14.329041 ms 
filter time 11.139182 ms 
--------------------stamp1317358240.641746997
sort q time 4.133733 
seperate points time 8.481065 
publication time 8.066146 ms 
whole laserOdometry time 8.085172 ms 
 
build tree time 50.684431 ms 
mapping data assosiation time 19.659104 ms 
mapping solver time 19.185676 ms 
mapping data assosiation time 18.602647 ms 
points size 73265 
mapping solver time 21.180076 ms 
filter time 16.294905 ms 
-----t: 0.0359764
OdomCount 4608 & avg odom time 0.045166 ms ++++++++++++++++++++++
build tree time 40.198015 ms 
mapping data assosiation time 19.476037 ms 
sort q time 4.341250 
seperate points time 9.236690 
publication time 8.328019 ms 
whole laserOdometry time 8.346059 ms 
 
mapping data assosiation time 21.402381 ms 
mapping solver time 17.120393 ms 
filter time 11.068222 ms 
--------------------stamp1317358240.953408956
sort q time 4.246633 
seperate points time 8.644426 
scan registration time 17.464988 ms *************
build tree time 41.974629 ms 
mapping data assosiation time 22.161259 ms 
-----t: 0.0523531
OdomCount 4610 & avg odom time 0.045165 ms ++++++++++++++++++++++
mapping data assosiation time 18.805063 ms 
--------------------stamp1317358241.057303905
filter time 12.280377 ms 
map prepare time 3.185194 ms
map corner num 170779  surf num 63585 
-----t: 0.0328457
OdomCount 4611 & avg odom time 0.045162 ms ++++++++++++++++++++++
build tree time 45.627047 ms 
mapping data assosiation time 17.769009 ms 
--------------------stamp1317358241.161197900
sort q time 5.268587 
seperate points time 10.842404 
mapping data assosiation time 29.212943 ms 
mapping solver time 23.804052 ms 
filter time 16.974313 ms 
map prepare time 3.580962 ms
map corner num 171452  surf num 63768 
--------------------stamp1317358241.265091896
sort q time 4.508930 
seperate points time 10.874719 
build tree time 47.893515 ms 
publication time 16.150418 ms 
whole laserOdometry time 16.167287 ms 
 
-----t: 0.04693
OdomCount 4613 & avg odom time 0.045165 ms ++++++++++++++++++++++
mapping solver time 24.758850 ms 
--------------------stamp1317358241.368984937
mapping solver time 19.398235 ms 
scan registration time 31.589187 ms *************
filter time 15.570038 ms 
mapping pub time 2.017862 ms 
whole mapping time 159.500808 ms +++++
mappingCount 3048 & avg mapping time 153.274692 ms ++++++++++++++++++++++
1317358241.057303905 WriteOdom aft_mapped_to_init
-----t: 0.0463056
OdomCount 4614 & avg odom time 0.045165 ms ++++++++++++++++++++++
build tree time 45.062186 ms 
--------------------stamp1317358241.472929000
sort q time 4.113039 
seperate points time 9.410881 
publication time 8.454693 ms 
whole laserOdometry time 8.469158 ms 
 
mapping data assosiation time 21.191609 ms 
mapping solver time 21.826283 ms 
filter time 11.501583 ms 
points size 77881 
sort q time 4.985609 
seperate points time 10.517529 
publication time 9.406766 ms 
whole laserOdometry time 9.421205 ms 
 
build tree time 50.628647 ms 
mapping data assosiation time 20.358683 ms 
mapping solver time 22.610032 ms 
points size 79919 
sort q time 4.953415 
seperate points time 10.838017 
publication time 7.281534 ms 
whole laserOdometry time 7.297550 ms 
 
-----t: 0.0396438
OdomCount 4617 & avg odom time 0.045161 ms ++++++++++++++++++++++
map prepare time 3.029697 ms
map corner num 173878  surf num 64533 
build tree time 37.476538 ms 
points size 79958 
sort q time 4.654814 
seperate points time 10.469968 
publication time 7.225051 ms 
whole laserOdometry time 7.241833 ms 
 
-----t: 0.0447794
OdomCount 4618 & avg odom time 0.045161 ms ++++++++++++++++++++++
mapping solver time 16.828453 ms 
filter time 11.207811 ms 
1317358241.576874018 WriteOdom aft_mapped_to_init
sort q time 4.249453 
seperate points time 10.197099 
-----t: 0.0295745
OdomCount 4619 & avg odom time 0.045157 ms ++++++++++++++++++++++
build tree time 51.132541 ms 
mapping data assosiation time 18.990628 ms 
mapping solver time 17.844968 ms 
points size 77053 
sort q time 5.454280 
seperate points time 10.164984 
publication time 8.689695 ms 
whole laserOdometry time 8.706778 ms 
 
add points time 1.191517 ms
filter time 17.508196 ms 
--------------------stamp1317358242.096365928
prepare time 12.910511 
build tree time 59.265914 ms 
mapping data assosiation time 24.162379 ms 
-----t: 0.0441992
OdomCount 4621 & avg odom time 0.045171 ms ++++++++++++++++++++++
mapping solver time 26.953071 ms 
--------------------stamp1317358242.200308084
publication time 9.141429 ms 
whole laserOdometry time 9.155107 ms 
 
build tree time 51.850186 ms 
1317358242.200308084 WriteOdom aft_mapped_to_init_high_frec
publication time 8.468039 ms 
whole laserOdometry time 8.484658 ms 
 
-----t: 0.0421535
OdomCount 4623 & avg odom time 0.045179 ms ++++++++++++++++++++++
mapping data assosiation time 20.844472 ms 
mapping solver time 16.154136 ms 
filter time 11.400781 ms 
points size 66526 
publication time 9.174756 ms 
whole laserOdometry time 9.189430 ms 
 
publication time 9.187538 ms 
whole laserOdometry time 9.200554 ms 
 
filter time 12.932488 ms 
--------------------stamp1317358242.616180896
sort q time 3.523300 
seperate points time 7.436376 
publication time 8.150579 ms 
whole laserOdometry time 8.163899 ms 
 
mapping solver time 26.155000 ms 
mapping data assosiation time 19.982281 ms 
mapping solver time 16.879060 ms 
filter time 14.257619 ms 
map prepare time 3.712561 ms
[0m[ INFO] [1718890325.644808742, 1317358242.747905312]: Received 270950 data points in frame camera_init with the following fields: x y z intensity[0m
map corner num 199152  surf num 71798 
[0m[ INFO] [1718890325.644843622, 1317358242.747905312]: Data saved to 1317358242408246.pcd[0m
publication time 10.863768 ms 
whole laserOdometry time 10.891393 ms 
 
build tree time 63.117384 ms 
--------------------stamp1317358242.824115991
sort q time 3.241875 
seperate points time 7.529592 
mapping solver time 26.249689 ms 
mapping data assosiation time 22.298060 ms 
mapping solver time 20.891071 ms 
filter time 19.636846 ms 
points size 60907 
scan registration time 17.583530 ms *************
publication time 19.019896 ms 
whole laserOdometry time 19.037267 ms 
 
build tree time 59.612187 ms 
mapping data assosiation time 21.665619 ms 
--------------------stamp1317358243.031979084
sort q time 3.232429 
seperate points time 8.022475 
mapping data assosiation time 21.462675 ms 
mapping solver time 25.338198 ms 
filter time 19.334822 ms 
--------------------stamp1317358243.135899066
sort q time 3.589571 
seperate points time 7.413375 
publication time 6.763586 ms 
whole laserOdometry time 6.777551 ms 
 
mapping data assosiation time 20.091416 ms 
mapping solver time 19.192251 ms 
mapping data assosiation time 19.881366 ms 
--------------------stamp1317358243.239810943
sort q time 3.401280 
seperate points time 8.607257 
publication time 8.398817 ms -----t: 0.0509469
OdomCount 4632 & avg odom time 0.045171 ms ++++++++++++++++++++++
build tree time 60.978920 ms 
points size 63207 
sort q time 3.786976 
seperate points time 8.147516 
mapping solver time 23.356516 ms 
-----t: 0.0361178
OdomCount 4633 & avg odom time 0.045169 ms ++++++++++++++++++++++
mapping solver time 18.304136 ms 
filter time 18.784870 ms 
--------------------stamp1317358243.447673082
sort q time 3.522844 
seperate points time 8.341837 
publication time 6.181724 ms -----t: 0.0359688
OdomCount 4634 & avg odom time 0.045167 ms ++++++++++++++++++++++
mapping data assosiation time 15.005874 ms 
mapping solver time 16.189348 ms 
mapping data assosiation time 15.953557 ms 
points size 64741 
sort q time 8.216434 
seperate points time 13.369797 
-----t: 0.0432754
OdomCount 4635 & avg odom time 0.045166 ms ++++++++++++++++++++++
1317358243.551615953 WriteOdom laser_odom_to_init
1317358243.551615953 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358243.655556917
scan registration time 23.873633 ms *************
-----t: 0.0357067
OdomCount 4636 & avg odom time 0.045164 ms ++++++++++++++++++++++
1317358243.655556917 WriteOdom laser_odom_to_init
1317358243.655556917 WriteOdom aft_mapped_to_init_high_frec
points size 61730 
mapping pub time 193.526508 ms 
whole mapping time 344.127015 ms +++++
mappingCount 3061 & avg mapping time 153.390886 ms ++++++++++++++++++++++
-----t: 0.0300598
OdomCount 4637 & avg odom time 0.045161 ms ++++++++++++++++++++++
build tree time 50.631140 ms 
mapping data assosiation time 15.148007 ms 
points size 60439 
sort q time 4.036030 
seperate points time 15.179397 
publication time 6.417171 ms 
whole laserOdometry time 6.431417 ms 
 
-----t: 0.0484261
OdomCount 4638 & avg odom time 0.045162 ms ++++++++++++++++++++++
--------------------stamp1317358243.967410087
sort q time 2.886725 
seperate points time 6.969408 
publication time 6.194910 ms 
whole laserOdometry time 6.212734 ms 
 
-----t: 0.0343954
OdomCount 4639 & avg odom time 0.045159 ms ++++++++++++++++++++++
mapping data assosiation time 15.349389 ms 
mapping solver time 17.040231 ms 
filter time 17.717676 ms 
sort q time 2.917612 
seperate points time 7.565777 
publication time 6.632389 ms 
whole laserOdometry time 6.659147 ms 
 
-----t: 0.0603269
OdomCount 4640 & avg odom time 0.045163 ms ++++++++++++++++++++++
mapping data assosiation time 16.949874 ms 
points size 52965 
mapping data assosiation time 20.512155 ms 
mapping solver time 17.683545 ms 
filter time 15.100677 ms 
--------------------stamp1317358244.279263973
build tree time 58.120135 ms 
mapping data assosiation time 20.028943 ms 
mapping solver time 24.024571 ms 
mapping data assosiation time 17.896710 ms 
--------------------stamp1317358244.383207082
sort q time 3.018017 
seperate points time 6.429431 
map prepare time 3.783922 ms
map corner num 235260  surf num 83334 
-----t: 0.0409351
OdomCount 4643 & avg odom time 0.045162 ms ++++++++++++++++++++++
build tree time 60.344080 ms 
mapping data assosiation time 16.084648 ms 
points size 54043 
prepare time 7.076289 
mapping solver time 23.900842 ms 
-----t: 0.0286539
OdomCount 4644 & avg odom time 0.045158 ms ++++++++++++++++++++++
mapping solver time 15.252135 ms 
filter time 16.242453 ms 
mapping pub time 12.738008 ms 
whole mapping time 169.963984 ms +++++
mappingCount 3066 & avg mapping time 153.396160 ms ++++++++++++++++++++++
--------------------stamp1317358244.591089010
sort q time 2.728876 
seperate points time 5.957373 
scan registration time 13.768306 ms *************
[0m[ INFO] [1718890327.506523317, 1317358244.606257711]: Received 319480 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890327.506576417, 1317358244.606257711]: Data saved to 1317358244279263.pcd[0m
publication time 6.016654 ms 
whole laserOdometry time 6.032170 ms 
 
-----t: 0.027186
OdomCount 4645 & avg odom time 0.045154 ms ++++++++++++++++++++++
build tree time 64.998502 ms 
mapping data assosiation time 16.211015 ms 
mapping solver time 18.566122 ms 
--------------------stamp1317358244.694984912
scan registration time 17.654993 ms *************
publication time 8.044810 ms 
whole laserOdometry time 8.061012 ms 
 
filter time 19.665067 ms 
build tree time 51.989381 ms 
sort q time 3.402411 
seperate points time 6.981420 
publication time 7.870242 ms 
whole laserOdometry time 7.904401 ms 
 
mapping data assosiation time 16.892099 ms 
mapping solver time 17.846511 ms 
filter time 14.540186 ms 
mapping pub time 1.233754 ms 
whole mapping time 150.760668 ms +++++
mappingCount 3068 & avg mapping time 153.397973 ms ++++++++++++++++++++++
1317358244.591089010 WriteOdom aft_mapped_to_init
map prepare time 3.060415 ms
map corner num 237352  surf num 83961 
points size 63724 
publication time 6.669210 ms 
whole laserOdometry time 6.683285 ms 
 
-----t: 0.0280381
OdomCount 4648 & avg odom time 0.045144 ms ++++++++++++++++++++++
build tree time 65.858900 ms 
mapping data assosiation time 15.323736 ms 
mapping solver time 18.653971 ms 
--------------------stamp1317358245.006716966
sort q time 3.377820 
seperate points time 7.930912 
mapping solver time 22.385120 ms 
-----t: 0.0306604
OdomCount 4649 & avg odom time 0.045141 ms ++++++++++++++++++++++
1317358245.006716966 WriteOdom laser_odom_to_init
1317358245.006716966 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317358245.110658884
sort q time 3.857291 
seperate points time 8.287201 
scan registration time 16.189394 ms *************
publication time 7.315040 ms 
whole laserOdometry time 7.345492 ms 
 
mapping solver time 26.854224 ms 
mapping data assosiation time 18.947263 ms 
mapping solver time 17.373434 ms 
--------------------stamp1317358245.214626073
sort q time 4.130784 
seperate points time 9.455837 
scan registration time 21.272567 ms *************
publication time 9.387955 ms 
whole laserOdometry time 9.416196 ms 
 
build tree time 65.944549 ms 
mapping data assosiation time 16.520367 ms 
--------------------stamp1317358245.318571090
sort q time 3.622101 
seperate points time 8.911186 
mapping data assosiation time 21.363160 ms 
-----t: 0.032342
OdomCount 4652 & avg odom time 0.045135 ms ++++++++++++++++++++++
filter time 14.347806 ms 
map prepare time 2.962161 ms
map corner num 239482  surf num 84645 
--------------------stamp1317358245.422489881
sort q time 4.504855 
seperate points time 8.782338 
scan registration time 17.815966 ms *************
publication time 8.020576 ms 
whole laserOdometry time 8.030784 ms 
 
mapping data assosiation time 21.531177 ms 
-----t: 0.0557267
OdomCount 4653 & avg odom time 0.045137 ms ++++++++++++++++++++++
mapping solver time 24.927822 ms 
mapping data assosiation time 18.799745 ms 
sort q time 4.019535 
seperate points time 8.361155 
filter time 20.197884 ms 
-----t: 0.0395024
OdomCount 4654 & avg odom time 0.045136 ms ++++++++++++++++++++++
1317358245.526408910 WriteOdom laser_odom_to_init
1317358245.526408910 WriteOdom aft_mapped_to_init_high_frec
[0m[ INFO] [1718890328.520153057, 1317358245.618830969]: Received 324127 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890328.520205050, 1317358245.618830969]: Data saved to 1317358245110658.pcd[0m
points size 76281 
scan registration time 20.989096 ms *************
publication time 8.584816 ms 
whole laserOdometry time 8.600900 ms 
 
-----t: 0.0346685
OdomCount 4655 & avg odom time 0.045134 ms ++++++++++++++++++++++
mapping data assosiation time 19.787858 ms 
mapping solver time 15.042622 ms 
mapping optimization time 137.226755 
add points time 0.667594 ms
filter time 15.015978 ms 
points size 79029 
sort q time 4.660794 
seperate points time 11.199406 
publication time 8.341785 ms 
whole laserOdometry time 8.355106 ms 
 
-----t: 0.0383615
OdomCount 4656 & avg odom time 0.045132 ms ++++++++++++++++++++++
build tree time 67.860586 ms 
mapping data assosiation time 16.143684 ms 
mapping solver time 18.596162 ms 
mapping data assosiation time 18.865075 ms 
sort q time 7.225295 
seperate points time 13.845106 
scan registration time 24.342329 ms *************
mapping solver time 19.576613 ms 
mapping optimization time 142.004563 
add points time 0.735426 ms
publication time 9.134500 ms 
whole laserOdometry time 9.147840 ms 
 
--------------------stamp1317358245.942061901
build tree time 61.750663 ms 
publication time 5.975994 ms 
whole laserOdometry time 5.990240 ms 
 
-----t: 0.0402067
OdomCount 4658 & avg odom time 0.045132 ms ++++++++++++++++++++++
mapping solver time 19.628063 ms 
mapping data assosiation time 18.064468 ms 
mapping solver time 13.224691 ms 
points size 79552 
sort q time 4.656960 
seperate points time 11.542667 
publication time 7.255687 ms 
whole laserOdometry time 7.282887 ms 
 
-----t: 0.0660606
OdomCount 4659 & avg odom time 0.045136 ms ++++++++++++++++++++++
build tree time 66.693461 ms 
--------------------stamp1317358246.149801015
sort q time 4.590694 
seperate points time 9.494617 
publication time 6.939207 ms 
whole laserOdometry time 7.037172 ms 
 
mapping data assosiation time 21.218024 ms 
-----t: 0.0582531
OdomCount 4660 & avg odom time 0.045139 ms ++++++++++++++++++++++
1317358246.149801015 WriteOdom laser_odom_to_init
1317358246.149801015 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.097424 ms 
mapping optimization time 157.332446 
add points time 0.762582 ms
filter time 14.681189 ms 
drop lidar frame in mapping for real time performance 
points size 74267 
sort q time 4.021892 
seperate points time 10.082319 
scan registration time 21.512385 ms *************
build tree time 65.368227 ms 
mapping data assosiation time 19.988852 ms 
--------------------stamp1317358246.357542991
mapping solver time 24.248701 ms 
sort q time 4.650963 
seperate points time 19.710308 
-----t: 0.0294688
OdomCount 4662 & avg odom time 0.045143 ms ++++++++++++++++++++++
filter time 14.575052 ms 
--------------------stamp1317358246.461437940
sort q time 4.164399 
seperate points time 10.013150 
build tree time 64.878227 ms 
mapping data assosiation time 20.488758 ms 
mapping solver time 21.403318 ms 
mapping data assosiation time 17.286896 ms 
points size 78267 
sort q time 4.207363 
seperate points time 10.172545 
filter time 18.686284 ms 
-----t: 0.0367648
OdomCount 4664 & avg odom time 0.045143 ms ++++++++++++++++++++++
[0m[ INFO] [1718890329.544116355, 1317358246.642002778]: Received 328325 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890329.544170182, 1317358246.642002778]: Data saved to 1317358245942061.pcd[0m
build tree time 57.188124 ms 
points size 78836 
sort q time 4.709103 
seperate points time 11.376183 
mapping solver time 24.193354 ms 
mapping data assosiation time 19.106075 ms 
mapping solver time 19.216977 ms 
filter time 14.458071 ms 
points size 80889 
sort q time 5.277429 
seperate points time 10.984270 
publication time 9.060066 ms build tree time 66.251479 ms 
-----t: 0.071086
OdomCount 4666 & avg odom time 0.045145 ms ++++++++++++++++++++++
--------------------stamp1317358246.877019882
points size 83481 
prepare time 8.255199 
mapping solver time 22.739851 ms 
mapping data assosiation time 22.332256 ms 
-----t: 0.0313944
OdomCount 4667 & avg odom time 0.045142 ms ++++++++++++++++++++++
mapping solver time 22.998435 ms 
filter time 15.160279 ms 
mapping pub time 1.823104 ms 
whole mapping time 179.615977 ms +++++
mappingCount 3080 & avg mapping time 153.461319 ms ++++++++++++++++++++++
1317358246.669251919 WriteOdom aft_mapped_to_init
--------------------stamp1317358246.980916023
sort q time 5.004729 
seperate points time 10.106195 
scan registration time 20.109945 ms *************
mapping data assosiation time 23.471944 ms 
-----t: 0.0732725
OdomCount 4668 & avg odom time 0.045148 ms ++++++++++++++++++++++
1317358246.980916023 WriteOdom laser_odom_to_init
1317358246.980916023 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.452423 ms 
points size 89093 
sort q time 5.583103 
seperate points time 10.974507 
mapping solver time 22.530100 ms 
publication time 10.103519 ms 
whole laserOdometry time 10.115595 ms 
 
--------------------stamp1317358247.188677072
prepare time 13.299320 
sort q time 4.930907 
seperate points time 11.302794 
publication time 9.673690 ms 
whole laserOdometry time 9.688509 ms 
 
--------------------stamp1317358247.292573928
mapping pub time 175.534432 ms 
whole mapping time 359.477376 ms +++++
mappingCount 3081 & avg mapping time 153.528187 ms ++++++++++++++++++++++
1317358246.773121119 WriteOdom aft_mapped_to_init
sort q time 5.793588 
seperate points time 10.976621 
-----t: 0.0296812
OdomCount 4671 & avg odom time 0.045141 ms ++++++++++++++++++++++
build tree time 58.424304 ms 
--------------------stamp1317358247.396469116
sort q time 5.237228 
seperate points time 10.835567 
mapping solver time 31.559383 ms 
publication time 7.496195 ms 
whole laserOdometry time 7.506005 ms 
 
mapping data assosiation time 31.689244 ms 
mapping solver time 19.306455 ms 
filter time 15.085481 ms 
prepare time 12.522532 
scan registration time 26.360979 ms *************
publication time 11.081219 ms 
whole laserOdometry time 11.101123 ms 
 
-----t: 0.0476139
OdomCount 4673 & avg odom time 0.045143 ms ++++++++++++++++++++++
build tree time 63.237255 ms 
mapping data assosiation time 20.917627 ms 
--------------------stamp1317358247.604304075
points size 85682 
sort q time 4.593452 
seperate points time 11.123731 
publication time 9.119244 ms 
whole laserOdometry time 9.132486 ms 
 
filter time 14.541825 ms 
map prepare time 3.506406 ms
map corner num 248551  surf num 88387 
--------------------stamp1317358247.708223104
sort q time 4.898973 
seperate points time 10.187336 
publication time 10.591253 ms 
whole laserOdometry time 10.605013 ms 
 
-----t: 0.0403372
OdomCount 4675 & avg odom time 0.045141 ms ++++++++++++++++++++++
mapping data assosiation time 24.820733 ms 
mapping solver time 24.795479 ms 
--------------------stamp1317358247.812139987
points size 86705 
sort q time 12.819838 
seperate points time 19.377519 
-----t: 0.0387844
OdomCount 4676 & avg odom time 0.045140 ms ++++++++++++++++++++++
map prepare time 3.479524 ms
map corner num 249506  surf num 88791 
--------------------stamp1317358247.916081905
build tree time 58.370456 ms 
publication time 12.322125 ms 
whole laserOdometry time 12.336408 ms 
 
-----t: 0.0396022
OdomCount 4677 & avg odom time 0.045139 ms ++++++++++++++++++++++
mapping solver time 26.119690 ms 
mapping data assosiation time 22.551384 ms 
--------------------stamp1317358248.020047903
mapping solver time 24.773549 ms 
sort q time 5.095206 
seperate points time 11.550636 
scan registration time 23.733985 ms *************
map prepare time 4.549555 ms
map corner num 250524  surf num 89197 
-----t: 0.0436031
OdomCount 4678 & avg odom time 0.045138 ms ++++++++++++++++++++++
--------------------stamp1317358248.123990058
sort q time 4.601408 
seperate points time 11.143998 
publication time 8.650307 ms 
whole laserOdometry time 8.666052 ms 
 
mapping data assosiation time 25.431961 ms 
mapping solver time 17.251788 ms 
--------------------stamp1317358248.227910995
mapping pub time 6.925926 ms 
whole mapping time 186.048003 ms +++++
mappingCount 3086 & avg mapping time 153.576832 ms ++++++++++++++++++++++
1317358247.916081905 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
sort q time 5.182342 
seperate points time 11.582726 
scan registration time 23.650650 ms *************
map prepare time 4.625170 ms
map corner num 251543  surf num 89632 
publication time 8.414214 ms 
whole laserOdometry time 8.425441 ms 
 
-----t: 0.0551849
OdomCount 4680 & avg odom time 0.045138 ms ++++++++++++++++++++++
1317358248.227910995 WriteOdom laser_odom_to_init
1317358248.227910995 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358248.331784963
points size 82462 
sort q time 4.479845 
seperate points time 11.082154 
mapping solver time 28.887494 ms 
publication time 16.450254 ms 
whole laserOdometry time 16.466436 ms 
 
mapping data assosiation time 30.881073 ms 
mapping solver time 18.664482 ms 
1317358248.331784963 WriteOdom laser_odom_to_init
scan registration time 20.966280 ms *************
publication time 10.539341 ms 
whole laserOdometry time 10.552358 ms 
 
-----t: 0.0460944
OdomCount 4682 & avg odom time 0.045148 ms ++++++++++++++++++++++
build tree time 64.077214 ms 
mapping data assosiation time 24.986740 ms 
sort q time 4.271184 
seperate points time 9.159821 
mapping solver time 32.069597 ms 
publication time 9.342180 ms 
whole laserOdometry time 9.357874 ms 
 
mapping data assosiation time 25.828186 ms 
mapping solver time 27.981699 ms 
--------------------stamp1317358248.643445014
sort q time 5.467543 
seperate points time 10.555179 
publication time 9.331948 ms 
whole laserOdometry time 9.347177 ms 
 
[0m[ INFO] [1718890331.597408713, 1317358248.695396172]: Received 341175 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890331.597462040, 1317358248.695396172]: Data saved to 1317358247916081.pcd[0m
build tree time 64.790959 ms 
--------------------stamp1317358248.747386932
points size 78592 
prepare time 7.995943 
sort q time 4.378973 
seperate points time 9.603975 
scan registration time 19.764197 ms *************
mapping solver time 43.143151 ms 
-----t: 0.0400427
OdomCount 4685 & avg odom time 0.045148 ms ++++++++++++++++++++++
mapping data assosiation time 31.265439 ms 
mapping optimization time 193.780213 
points size 76373 
sort q time 4.249017 
seperate points time 10.485771 
scan registration time 21.768943 ms *************
filter time 23.867941 ms 
mapping pub time 1.940767 ms 
whole mapping time 226.218815 ms +++++
mappingCount 3089 & avg mapping time 153.629415 ms ++++++++++++++++++++++
1317358248.435632944 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.700821 ms
map corner num 254296  surf num 90947 
publication time 8.903153 ms 
whole laserOdometry time 8.921264 ms 
 
-----t: 0.0389065
OdomCount 4686 & avg odom time 0.045146 ms ++++++++++++++++++++++
build tree time 61.286244 ms 
--------------------stamp1317358248.955275058
mapping data assosiation time 29.711761 ms 
publication time 12.120221 ms 
whole laserOdometry time 12.134310 ms 
 
1317358248.955275058 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 26.719322 ms 
--------------------stamp1317358249.059215068
sort q time 4.210273 
seperate points time 10.399587 
map prepare time 4.427036 ms
map corner num 255271  surf num 91414 
publication time 10.765147 ms 
whole laserOdometry time 10.781499 ms 
 
build tree time 58.167568 ms 
--------------------stamp1317358249.163156986
mapping data assosiation time 29.166340 ms 
publication time 8.114501 ms 
whole laserOdometry time 8.129155 ms 
 
mapping solver time 35.314037 ms 
mapping data assosiation time 25.071777 ms 
mapping solver time 22.362232 ms 
points size 74996 
sort q time 4.317479 
seperate points time 9.900272 
map prepare time 5.641260 ms
map corner num 256246  surf num 91769 
-----t: 0.0396583
OdomCount 4690 & avg odom time 0.045142 ms ++++++++++++++++++++++
build tree time 62.206534 ms 
points size 74937 
prepare time 10.471462 
publication time 7.768882 ms 
whole laserOdometry time 7.781909 ms 
 
-----t: 0.0410951
OdomCount 4691 & avg odom time 0.045141 ms ++++++++++++++++++++++
mapping data assosiation time 23.983935 ms 
--------------------stamp1317358249.475011110
sort q time 4.082237 
seperate points time 9.966038 
map prepare time 4.771357 ms
map corner num 237727  surf num 86610 
build tree time 56.187546 ms 
--------------------stamp1317358249.578970909
mapping data assosiation time 27.434971 ms 
scan registration time 37.061297 ms *************
-----t: 0.0499907
OdomCount 4693 & avg odom time 0.045141 ms ++++++++++++++++++++++
mapping solver time 16.731863 ms 
--------------------stamp1317358249.682913064
sort q time 4.139549 
seperate points time 9.977461 
publication time 8.049575 ms 
whole laserOdometry time 8.063653 ms 
 
[0m[ INFO] [1718890332.640641458, 1317358249.740202355]: Received 348015 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890332.640673136, 1317358249.740202355]: Data saved to 1317358248851331.pcd[0m
build tree time 64.304783 ms 
mapping data assosiation time 23.609441 ms 
--------------------stamp1317358249.786861896
mapping solver time 26.250873 ms 
publication time 6.586526 ms 
whole laserOdometry time 6.602375 ms 
 
mapping solver time 16.130638 ms 
mapping optimization time 158.419981 
add points time 1.134850 ms
filter time 14.412907 ms 
--------------------stamp1317358249.890829086
sort q time 4.084548 
seperate points time 8.229465 
publication time 6.822120 ms 
whole laserOdometry time 6.831079 ms 
 
build tree time 62.487335 ms 
mapping data assosiation time 21.316132 ms 
mapping solver time 25.039949 ms 
--------------------stamp1317358249.994796991
mapping data assosiation time 27.527204 ms 
sort q time 3.506588 
seperate points time 8.663668 
scan registration time 19.254968 ms *************
mapping solver time 31.698726 ms 
mapping optimization time 169.323453 
add points time 1.046150 ms
mapping pub time 1.682022 ms 
whole mapping time 194.330937 ms +++++
mappingCount 3095 & avg mapping time 153.711090 ms ++++++++++++++++++++++
--------------------stamp1317358250.098763942
sort q time 3.422068 
seperate points time 7.813627 
build tree time 59.256247 ms 
-----t: 0.0283775
OdomCount 4698 & avg odom time 0.045131 ms ++++++++++++++++++++++
mapping data assosiation time 22.398139 ms 
mapping solver time 24.353553 ms 
mapping data assosiation time 22.834067 ms 
sort q time 4.351097 
seperate points time 8.508994 

whole laserOdometry time 6.920939 ms 
 
mapping optimization time 161.737806 
add points time 1.193990 ms
filter time 20.431937 ms 
map prepare time 3.512636 ms
map corner num 240721  surf num 87638 
--------------------stamp1317358250.306674003
sort q time 3.664419 
seperate points time 8.898401 
publication time 6.088991 ms 
whole laserOdometry time 6.102121 ms 
 
mapping solver time 21.415940 ms 
mapping data assosiation time 17.793971 ms 
--------------------stamp1317358250.410590887
filter time 26.309928 ms 
publication time 6.444341 ms 
whole laserOdometry time 6.455136 ms 
 
build tree time 53.515509 ms 
points size 65441 
sort q time 11.795376 
seperate points time 16.958616 
publication time 5.218648 ms 
whole laserOdometry time 5.231216 ms 
 
mapping data assosiation time 21.660198 ms 
mapping solver time 13.922794 ms 
filter time 15.028810 ms 
--------------------stamp1317358250.618452072
sort q time 4.288774 
seperate points time 8.234361 
publication time 6.846540 ms 
whole laserOdometry time 6.860065 ms 
 
build tree time 65.138333 ms 
mapping data assosiation time 18.558347 ms 
mapping solver time 20.361556 ms 
--------------------stamp1317358250.722394943
sort q time 4.100667 
seperate points time 8.022266 
mapping solver time 21.075600 ms 
-----t: 0.0354705
OdomCount 4704 & avg odom time 0.045121 ms ++++++++++++++++++++++
[0m[ INFO] [1718890333.713955011, 1317358250.807372553]: Received 328359 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890333.714031348, 1317358250.807372553]: Data saved to 1317358249890829.pcd[0m
--------------------stamp1317358250.826338052
build tree time 59.716808 ms 
publication time 5.965871 ms 
whole laserOdometry time 5.977999 ms 
 
-----t: 0.0306292
OdomCount 4705 & avg odom time 0.045118 ms ++++++++++++++++++++++
mapping solver time 22.858142 ms 
mapping data assosiation time 18.737762 ms 
mapping solver time 18.468326 ms 
points size 65536 
filter time 21.161932 ms 
publication time 5.934632 ms 
whole laserOdometry time 5.950346 ms 
 
build tree time 60.981008 ms 
--------------------stamp1317358251.034224987
sort q time 3.129203 
seperate points time 7.294036 
publication time 7.413861 ms 
whole laserOdometry time 7.444663 ms 
 
-----t: 0.0476166
OdomCount 4707 & avg odom time 0.045116 ms ++++++++++++++++++++++
filter time 14.496649 ms 
--------------------stamp1317358251.138190984
sort q time 3.283521 
seperate points time 8.040018 
-----t: 0.0350546
OdomCount 4708 & avg odom time 0.045114 ms ++++++++++++++++++++++
--------------------stamp1317358251.242156982
sort q time 3.787351 
seperate points time 9.386037 
scan registration time 19.898720 ms *************
publication time 5.997914 ms 
whole laserOdometry time 6.009302 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 
--------------------stamp1317358251.346122980
build tree time 59.929895 ms 
mapping data assosiation time 20.610118 ms 
mapping solver time 22.662581 ms 
mapping data assosiation time 18.433820 ms 
mapping solver time 14.598239 ms 
--------------------stamp1317358251.450088977
1317358250.930282116 WriteOdom aft_mapped_to_init
-----t: 0.0316241
OdomCount 4711 & avg odom time 0.045102 ms ++++++++++++++++++++++
build tree time 56.083273 ms 
mapping data assosiation time 16.526927 ms 
--------------------stamp1317358251.554056882
sort q time 3.048661 
seperate points time 6.578538 
mapping data assosiation time 18.721604 ms 
-----t: 0.0280797
OdomCount 4712 & avg odom time 0.045099 ms ++++++++++++++++++++++
filter time 14.035304 ms 
--------------------stamp1317358251.658000946
sort q time 3.595221 
seperate points time 7.443258 
publication time 6.670782 ms 
whole laserOdometry time 6.693570 ms 
 
mapping data assosiation time 18.717894 ms 
-----t: 0.0425302
OdomCount 4713 & avg odom time 0.045098 ms ++++++++++++++++++++++
mapping data assosiation time 16.150107 ms 
mapping solver time 11.358273 ms 
--------------------stamp1317358251.761941909
sort q time 3.661871 
seperate points time 9.040945 
publication time 7.133286 ms 
whole laserOdometry time 7.146698 ms 
 
-----t: 0.0334116
OdomCount 4714 & avg odom time 0.045096 ms ++++++++++++++++++++++
[0m[ INFO] [1718890334.724217571, 1317358251.822821980]: Received 332388 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890334.724266469, 1317358251.822821980]: Data saved to 1317358250826338.pcd[0m
mapping data assosiation time 15.488540 ms 
--------------------stamp1317358251.865907907
sort q time 2.965223 
seperate points time 6.662008 
publication time 6.055907 ms 
whole laserOdometry time 6.067424 ms 
 
mapping data assosiation time 20.964787 ms 
-----t: 0.0367897
OdomCount 4715 & avg odom time 0.045094 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
points size 65579 
build tree time 55.924097 ms 
publication time 7.045087 ms 
whole laserOdometry time 7.059542 ms 
 
-----t: 0.035064
OdomCount 4716 & avg odom time 0.045092 ms ++++++++++++++++++++++
mapping solver time 21.844451 ms 
mapping data assosiation time 17.868550 ms 
mapping solver time 12.146957 ms 
--------------------stamp1317358252.073848009
map prepare time 3.724339 ms
map corner num 224147  surf num 78283 
sort q time 4.306914 
seperate points time 11.230188 
scan registration time 27.066268 ms *************
-----t: 0.0499914
OdomCount 4717 & avg odom time 0.045093 ms ++++++++++++++++++++++
1317358252.073848009 WriteOdom laser_odom_to_init
1317358252.073848009 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 17.134358 ms 
--------------------stamp1317358252.177789926
points size 64484 
prepare time 8.638544 
publication time 8.406866 ms 
whole laserOdometry time 8.420105 ms 
 
mapping solver time 18.062160 ms 
filter time 13.748096 ms 
-----t: 0.0397793
OdomCount 4719 & avg odom time 0.045091 ms ++++++++++++++++++++++
mapping solver time 22.654327 ms 
mapping data assosiation time 19.135093 ms 
--------------------stamp1317358252.385746955
sort q time 2.570297 
seperate points time 6.708275 
1317358252.073848009 WriteOdom aft_mapped_to_init
publication time 6.067158 ms 
whole laserOdometry time 6.080404 ms 
 
build tree time 64.519612 ms 
--------------------stamp1317358252.489711999
mapping data assosiation time 20.267376 ms 
mapping solver time 20.046423 ms 
mapping data assosiation time 21.142626 ms 
mapping solver time 14.441801 ms 
filter time 13.557846 ms 
--------------------stamp1317358252.593672037
sort q time 2.427379 
seperate points time 6.097229 
publication time 5.558964 ms 
whole laserOdometry time 5.570044 ms 
 
build tree time 57.856089 ms 
mapping data assosiation time 18.426595 ms 
mapping solver time 20.067118 ms 
mapping data assosiation time 19.290520 ms 
prepare time 6.506355 
mapping solver time 22.607181 ms 
filter time 15.063240 ms 
mapping pub time 1.295640 ms 
whole mapping time 159.302520 ms +++++
mappingCount 3110 & avg mapping time 153.818902 ms ++++++++++++++++++++++
1317358252.385746956 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.345591 ms
map corner num 227262  surf num 79353 
build tree time 54.994107 ms 
points size 39076 
sort q time 1.892880 
seperate points time 9.264699 
publication time 3.726169 ms 
whole laserOdometry time 3.738757 ms 
 
mapping solver time 23.794432 ms 
[0m[ INFO] [1718890335.745601948, 1317358252.840285813]: Received 336789 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890335.745639588, 1317358252.840285813]: Data saved to 1317358251761941.pcd[0m
mapping data assosiation time 19.147140 ms 
mapping solver time 15.933354 ms 
filter time 14.181710 ms 
--------------------stamp1317358252.905601024
publication time 3.639387 ms 
whole laserOdometry time 3.656242 ms 
 
-----t: 0.0218971
OdomCount 4725 & avg odom time 0.045074 ms ++++++++++++++++++++++
build tree time 61.405643 ms 
mapping data assosiation time 16.011345 ms 
mapping solver time 18.077603 ms 
--------------------stamp1317358253.009593009
publication time 2.951707 ms 
whole laserOdometry time 2.965157 ms 
 
-----t: 0.0184184
OdomCount 4726 & avg odom time 0.045068 ms ++++++++++++++++++++++
build tree time 50.829905 ms 
--------------------stamp1317358253.113560914
mapping solver time 17.613839 ms 
-----t: 0.0243224
OdomCount 4727 & avg odom time 0.045064 ms ++++++++++++++++++++++
mapping solver time 15.007352 ms 
filter time 14.093596 ms 
--------------------stamp1317358253.217525959
sort q time 2.079952 
seperate points time 5.407260 
build tree time 55.708634 ms 
-----t: 0.0213429
OdomCount 4728 & avg odom time 0.045059 ms ++++++++++++++++++++++
mapping solver time 17.492569 ms 
mapping data assosiation time 14.029107 ms 
mapping solver time 14.472237 ms 
mapping pub time 1.182414 ms 
whole mapping time 136.512782 ms +++++
mappingCount 3114 & avg mapping time 153.807883 ms ++++++++++++++++++++++
sort q time 2.576681 
seperate points time 5.969926 
publication time 4.355495 ms 
whole laserOdometry time 4.367642 ms 
 
-----t: 0.0403067
OdomCount 4729 & avg odom time 0.045058 ms ++++++++++++++++++++++
build tree time 60.831305 ms 
mapping data assosiation time 14.430270 ms 
mapping solver time 19.921886 ms 
sort q time 2.553740 
seperate points time 5.585696 
publication time 4.523450 ms 
whole laserOdometry time 4.550194 ms 
 
filter time 13.337461 ms 
build tree time 49.999021 ms 
sort q time 2.792172 
seperate points time 7.041387 
publication time 5.303465 ms 
whole laserOdometry time 5.315642 ms 
 
mapping data assosiation time 13.875114 ms 
mapping solver time 15.184173 ms 
filter time 13.982233 ms 
--------------------stamp1317358253.633392095
publication time 4.225012 ms build tree time 59.292584 ms 
mapping data assosiation time 15.919175 ms 
mapping solver time 16.235670 ms 
mapping data assosiation time 16.432873 ms 
points size 59961 
publication time 4.293047 ms 
whole laserOdometry time 4.305756 ms 
 
map prepare time 2.788518 ms
map corner num 230894  surf num 80365 
-----t: 0.0439205
OdomCount 4733 & avg odom time 0.045048 ms ++++++++++++++++++++++
build tree time 53.094374 ms 
--------------------stamp1317358253.841326951
sort q time 2.804797 
seperate points time 6.616533 
scan registration time 16.074652 ms *************
mapping data assosiation time 17.331910 ms 
mapping solver time 17.332998 ms 
filter time 15.811238 ms 
--------------------stamp1317358253.945295095
sort q time 3.345531 
seperate points time 6.940151 
scan registration time 15.109999 ms *************
build tree time 58.358854 ms 
-----t: 0.0321465
OdomCount 4735 & avg odom time 0.045042 ms ++++++++++++++++++++++
mapping solver time 18.680125 ms 
mapping data assosiation time 16.579399 ms 
mapping solver time 17.442786 ms 
sort q time 3.263604 
seperate points time 7.477990 
publication time 6.569725 ms 
whole laserOdometry time 6.584664 ms 
 
-----t: 0.0319567
OdomCount 4736 & avg odom time 0.045039 ms ++++++++++++++++++++++
build tree time 52.593649 ms 
mapping data assosiation time 18.321591 ms 
points size 63541 
mapping solver time 24.681291 ms 
publication time 5.677472 ms 
whole laserOdometry time 5.688785 ms 
 
mapping solver time 16.018984 ms 
filter time 13.424663 ms 
--------------------stamp1317358254.257199048
sort q time 3.574971 
seperate points time 7.735227 
build tree time 54.271122 ms 
mapping data assosiation time 18.489725 ms 
mapping solver time 20.044447 ms 
mapping data assosiation time 15.642170 ms 
mapping solver time 12.250671 ms 
--------------------stamp1317358254.361160993
sort q time 3.929523 
seperate points time 9.225386 
scan registration time 19.078500 ms *************
--------------------stamp1317358254.465125083
sort q time 4.399067 
seperate points time 8.767280 
publication time 6.620106 ms 
whole laserOdometry time 6.632904 ms 
 
-----t: 0.0534973
OdomCount 4740 & avg odom time 0.045033 ms ++++++++++++++++++++++
map prepare time 3.027541 ms
map corner num 232807  surf num 81170 
--------------------stamp1317358254.569092035
sort q time 3.841467 
seperate points time 8.425565 
publication time 6.015736 ms 
whole laserOdometry time 6.046350 ms 
 
-----t: 0.0408488
OdomCount 4741 & avg odom time 0.045032 ms ++++++++++++++++++++++
mapping solver time 19.388086 ms 
mapping data assosiation time 17.150000 ms 
points size 68355 
sort q time 3.806748 
seperate points time 9.410625 
1317358254.257199049 WriteOdom aft_mapped_to_init
-----t: 0.0324812
OdomCount 4742 & avg odom time 0.045030 ms ++++++++++++++++++++++
build tree time 53.463489 ms 
--------------------stamp1317358254.777025938
sort q time 3.538371 
seperate points time 7.940500 
scan registration time 16.200126 ms *************
[0m[ INFO] [1718890337.723272310, 1317358254.818014364]: Received 313977 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890337.723338446, 1317358254.818014364]: Data saved to 1317358254049283.pcd[0m
mapping data assosiation time 21.003316 ms 
mapping solver time 19.150360 ms 
filter time 13.839994 ms 
mapping pub time 1.505718 ms 
whole mapping time 156.496241 ms +++++
mappingCount 3123 & avg mapping time 153.853273 ms ++++++++++++++++++++++
1317358254.569092035 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.142151 ms
map corner num 234491  surf num 82040 
--------------------stamp1317358254.881016016
sort q time 3.646824 
seperate points time 8.454523 
publication time 7.646731 ms 
whole laserOdometry time 7.660042 ms 
 
mapping data assosiation time 17.930830 ms 
mapping solver time 21.607296 ms 
--------------------stamp1317358254.985008001
sort q time 3.644353 
seperate points time 9.100212 
scan registration time 18.594596 ms *************
mapping solver time 20.089131 ms 
mapping optimization time 140.772650 
add points time 0.709604 ms
publication time 7.361505 ms 
whole laserOdometry time 7.377025 ms 
 
map prepare time 4.060299 ms
map corner num 235254  surf num 82377 
build tree time 52.942934 ms 
sort q time 3.414565 
seperate points time 7.762573 
publication time 6.471601 ms 
whole laserOdometry time 6.484894 ms 
 
mapping solver time 24.631387 ms 
mapping data assosiation time 20.743509 ms 
mapping solver time 22.352331 ms 
filter time 14.436562 ms 
sort q time 8.299299 
seperate points time 15.275742 
publication time 10.803098 ms 
whole laserOdometry time 10.821627 ms 
 
build tree time 56.494412 ms 
mapping data assosiation time 22.350786 ms 
-----t: 0.0603675
OdomCount 4747 & avg odom time 0.045025 ms ++++++++++++++++++++++
points size 71489 
mapping data assosiation time 22.063853 ms 
mapping solver time 28.469641 ms 
-----t: 0.0562685
OdomCount 4748 & avg odom time 0.045028 ms ++++++++++++++++++++++
mapping pub time 5.501687 ms 
whole mapping time 186.242148 ms +++++
mappingCount 3126 & avg mapping time 153.870401 ms ++++++++++++++++++++++
--------------------stamp1317358255.400875091
sort q time 3.991027 
seperate points time 9.674210 
build tree time 63.786878 ms 
mapping data assosiation time 20.357813 ms 
mapping solver time 23.151895 ms 
points size 74607 
sort q time 4.027628 
seperate points time 9.696326 
mapping solver time 23.416642 ms 
filter time 17.856741 ms 
mapping pub time 1.625538 ms 
whole mapping time 177.351180 ms +++++
mappingCount 3127 & avg mapping time 153.877911 ms ++++++++++++++++++++++
1317358255.192941904 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.642842 ms
map corner num 237533  surf num 83500 
-----t: 0.0658195
OdomCount 4750 & avg odom time 0.045029 ms ++++++++++++++++++++++
--------------------stamp1317358255.608758926
sort q time 4.231361 
seperate points time 10.263085 
publication time 8.492000 ms 
whole laserOdometry time 8.520862 ms mapping data assosiation time 23.673198 ms 
mapping solver time 19.288492 ms 
mapping data assosiation time 19.299272 ms 
--------------------stamp1317358255.712726116
prepare time 9.378725 
sort q time 4.164359 
seperate points time 9.800435 
publication time 7.906258 ms 
whole laserOdometry time 7.915991 ms 
 
-----t: 0.0437664
OdomCount 4752 & avg odom time 0.045025 ms ++++++++++++++++++++++
build tree time 58.986675 ms 
[0m[ INFO] [1718890338.707797139, 1317358255.806450936]: Received 319810 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890338.707823582, 1317358255.806450936]: Data saved to 1317358254985008.pcd[0m
mapping data assosiation time 24.073744 ms 
sort q time 4.871468 
seperate points time 9.394369 
mapping solver time 29.216126 ms 
mapping data assosiation time 25.858614 ms 
mapping solver time 25.220185 ms 
filter time 14.847601 ms 
scan registration time 20.596612 ms *************
publication time 14.157018 ms 
whole laserOdometry time 14.175902 ms 
 
build tree time 60.457283 ms 
--------------------stamp1317358256.024532079
mapping solver time 29.373007 ms 
mapping data assosiation time 25.836729 ms 
filter time 14.761876 ms 
--------------------stamp1317358256.128427982
sort q time 4.935082 
seperate points time 9.905182 
publication time 8.399391 ms 
whole laserOdometry time 8.412592 ms 
 
build tree time 63.578104 ms 
1317358256.128427982 WriteOdom laser_odom_to_init
mapping data assosiation time 23.498958 ms 
mapping solver time 26.997694 ms 
points size 82520 
prepare time 7.781718 
mapping data assosiation time 23.951762 ms 
publication time 7.987337 ms 
whole laserOdometry time 7.999969 ms 
 
-----t: 0.0423941
OdomCount 4757 & avg odom time 0.045025 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
map prepare time 3.430283 ms
map corner num 240741  surf num 84917 
--------------------stamp1317358256.336263895
sort q time 4.641556 
seperate points time 9.340044 
publication time 8.771747 ms mapping data assosiation time 30.596126 ms 
mapping solver time 24.932397 ms 
mapping data assosiation time 23.856490 ms 
points size 85358 
sort q time 5.406403 
seperate points time 10.934753 
publication time 8.999211 ms 
whole laserOdometry time 9.012242 ms 
 
mapping pub time 1.903458 ms 
whole mapping time 189.121916 ms +++++
mappingCount 3132 & avg mapping time 153.924511 ms ++++++++++++++++++++++
--------------------stamp1317358256.544102907
mapping data assosiation time 25.386621 ms 
publication time 7.460149 ms 
whole laserOdometry time 7.473032 ms 
 
-----t: 0.0600441
OdomCount 4760 & avg odom time 0.045024 ms ++++++++++++++++++++++
mapping solver time 23.317474 ms 
points size 82147 
1317358256.336263895 WriteOdom aft_mapped_to_init
publication time 9.960009 ms 
whole laserOdometry time 9.975894 ms 
 
build tree time 57.456085 ms 
mapping data assosiation time 17.640648 ms 
points size 81470 
sort q time 4.619916 
seperate points time 10.883852 
publication time 9.763109 ms 
whole laserOdometry time 9.777216 ms 
 
mapping solver time 22.596968 ms 
filter time 18.060770 ms 
--------------------stamp1317358256.855667114
sort q time 4.524591 
seperate points time 10.751220 
-----t: 0.0408918
OdomCount 4763 & avg odom time 0.045027 ms ++++++++++++++++++++++
mapping data assosiation time 17.235706 ms 
mapping solver time 21.760974 ms 
points size 79334 
sort q time 4.742643 
seperate points time 11.216509 
mapping solver time 24.194823 ms 
filter time 15.455013 ms 
mapping pub time 1.871453 ms 
whole mapping time 175.966254 ms +++++
mappingCount 3135 & avg mapping time 153.945112 ms ++++++++++++++++++++++
1317358256.647973061 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.169006 ms
map corner num 243564  surf num 86061 
--------------------stamp1317358257.063381910
sort q time 4.812770 
seperate points time 10.673107 
publication time 8.562208 ms 
whole laserOdometry time 8.575478 ms 
 
mapping solver time 22.563805 ms 
mapping data assosiation time 19.263774 ms 
--------------------stamp1317358257.167253017
sort q time 4.220399 
seperate points time 10.186011 
publication time 10.248511 ms 
whole laserOdometry time 10.259971 ms 
 
-----t: 0.0499579
OdomCount 4766 & avg odom time 0.045024 ms ++++++++++++++++++++++
1317358257.167253017 WriteOdom laser_odom_to_init
1317358257.167253017 WriteOdom aft_mapped_to_init_high_frec
build tree time 60.419727 ms 
points size 78319 
publication time 6.174137 ms 
whole laserOdometry time 6.186316 ms 
 
mapping solver time 26.914118 ms 
mapping data assosiation time 20.431838 ms 
-----t: 0.0645733
OdomCount 4767 & avg odom time 0.045028 ms ++++++++++++++++++++++
filter time 14.249738 ms 
points size 79157 
sort q time 5.008057 
seperate points time 10.637230 
publication time 6.520871 ms 
whole laserOdometry time 6.552971 ms 
 
-----t: 0.0356815
OdomCount 4768 & avg odom time 0.045026 ms ++++++++++++++++++++++
build tree time 64.661263 ms 
mapping data assosiation time 16.745285 ms 
mapping solver time 21.324767 ms 
sort q time 4.334339 
seperate points time 10.439937 
scan registration time 22.294120 ms *************
mapping data assosiation time 19.964759 ms 
mapping solver time 21.462804 ms 
filter time 16.996233 ms 
--------------------stamp1317358257.582906961
sort q time 4.246665 
seperate points time 10.355624 
scan registration time 22.473980 ms *************
mapping data assosiation time 26.389792 ms 
mapping solver time 27.349452 ms 
mapping data assosiation time 21.521961 ms 
sort q time 4.775602 
seperate points time 9.720037 
-----t: 0.0303557
OdomCount 4771 & avg odom time 0.045025 ms ++++++++++++++++++++++
map prepare time 4.066896 ms
map corner num 253918  surf num 90547 
--------------------stamp1317358257.790741920
sort q time 4.107038 
seperate points time 9.357116 
publication time 6.190191 ms 
whole laserOdometry time 6.201237 ms 
 
-----t: 0.0289864
OdomCount 4772 & avg odom time 0.045022 ms ++++++++++++++++++++++
1317358257.790741920 WriteOdom laser_odom_to_init
1317358257.790741920 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.513871 ms 
mapping data assosiation time 15.063973 ms 
--------------------stamp1317358257.894637107
sort q time 4.222709 
seperate points time 9.775447 
drop lidar frame in mapping for real time performance 
-----t: 0.040704
OdomCount 4773 & avg odom time 0.045021 ms ++++++++++++++++++++++
--------------------stamp1317358257.998507976mapping solver time 23.036158 ms 
-----t: 0.0314744
OdomCount 4774 & avg odom time 0.045018 ms ++++++++++++++++++++++
mapping solver time 12.215282 ms 
filter time 15.036464 ms 
--------------------stamp1317358258.102379083
sort q time 4.425817 
seperate points time 10.688359 
publication time 6.009391 ms 
whole laserOdometry time 6.021774 ms 
 
--------------------stamp1317358258.206250905
prepare time 10.580118 
publication time 6.218807 ms 
whole laserOdometry time 6.260615 ms 
 
mapping pub time 176.103586 ms 
whole mapping time 328.503247 ms +++++
mappingCount 3141 & avg mapping time 154.040002 ms ++++++++++++++++++++++
--------------------stamp1317358258.310120105
build tree time 57.413451 ms 
points size 71263 
prepare time 9.802432 
sort q time 4.246035 
seperate points time 20.514425 
publication time 6.076700 ms 
whole laserOdometry time 6.090894 ms 
 
mapping data assosiation time 17.893304 ms 
mapping solver time 17.058652 ms 
--------------------stamp1317358258.414015054
1317358257.998507977 WriteOdom aft_mapped_to_init
scan registration time 22.439892 ms *************
publication time 6.086907 ms 
whole laserOdometry time 6.098933 ms 
 
build tree time 67.600131 ms 
mapping data assosiation time 15.775386 ms 
points size 71537 
scan registration time 20.079260 ms *************
publication time 5.987475 ms 
whole laserOdometry time 5.999736 ms 
 
-----t: 0.0320501
OdomCount 4779 & avg odom time 0.045010 ms ++++++++++++++++++++++
filter time 15.071280 ms 
--------------------stamp1317358258.621851921
sort q time 3.909090 
seperate points time 9.571056 
build tree time 59.716537 ms 
publication time 11.251567 ms 
whole laserOdometry time 11.267108 ms 
 
-----t: 0.0439861
OdomCount 4780 & avg odom time 0.045010 ms ++++++++++++++++++++++
mapping solver time 22.046220 ms 
mapping data assosiation time 16.080902 ms 
--------------------stamp1317358258.725771903
sort q time 3.794162 
seperate points time 9.347964 
filter time 22.970831 ms 
-----t: 0.052995
OdomCount 4781 & avg odom time 0.045012 ms ++++++++++++++++++++++
build tree time 61.435495 ms 
[0m[ INFO] [1718890341.735131979, 1317358258.837175164]: Received 345797 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890341.735166421, 1317358258.837175164]: Data saved to 1317358257790741.pcd[0m
mapping data assosiation time 21.194301 ms 
publication time 9.395242 ms 
whole laserOdometry time 9.408593 ms mapping data assosiation time 16.769459 ms 
mapping solver time 15.480970 ms 
filter time 16.053870 ms 
--------------------stamp1317358258.933609008
sort q time 3.261909 
seperate points time 7.016823 
publication time 6.081363 ms 
whole laserOdometry time 6.095175 ms 
 
-----t: 0.0382958
OdomCount 4783 & avg odom time 0.045007 ms ++++++++++++++++++++++
mapping data assosiation time 15.323338 ms 
mapping solver time 16.638621 ms 
--------------------stamp1317358259.037503957
points size 64486 
sort q time 3.307246 
seperate points time 9.063785 
-----t: 0.0329622
OdomCount 4784 & avg odom time 0.045004 ms ++++++++++++++++++++++
--------------------stamp1317358259.141400098
build tree time 59.478142 ms 
publication time 7.164192 ms 
whole laserOdometry time 7.198482 ms 
 
mapping solver time 22.333484 ms 
mapping data assosiation time 19.266143 ms 
mapping solver time 17.759339 ms 
points size 61420 
publication time 8.566299 ms 
whole laserOdometry time 8.581029 ms 
 
-----t: 0.0286105
OdomCount 4786 & avg odom time 0.045001 ms ++++++++++++++++++++++
build tree time 60.112381 ms 
mapping data assosiation time 16.161261 ms 
--------------------stamp1317358259.349236011
sort q time 2.812732 
seperate points time 6.189934 
scan registration time 14.128773 ms *************
publication time 4.907970 ms 
whole laserOdometry time 4.920688 ms 
 
filter time 14.668354 ms 
--------------------stamp1317358259.453155040
sort q time 2.977680 
seperate points time 7.264089 
publication time 5.631952 ms mapping data assosiation time 18.155279 ms 
mapping solver time 19.343212 ms 
mapping data assosiation time 15.766688 ms 
--------------------stamp1317358259.557074069
sort q time 2.867679 
seperate points time 7.205583 
mapping pub time 1.485465 ms 
whole mapping time 166.549578 ms +++++
mappingCount 3149 & avg mapping time 154.066283 ms ++++++++++++++++++++++
1317358259.245318890 WriteOdom aft_mapped_to_init
-----t: 0.028906
OdomCount 4789 & avg odom time 0.044992 ms ++++++++++++++++++++++
build tree time 57.467356 ms 
--------------------stamp1317358259.660991907
sort q time 3.057129 
seperate points time 7.636643 
mapping solver time 23.207634 ms 
-----t: 0.0292672
OdomCount 4790 & avg odom time 0.044988 ms ++++++++++++++++++++++
mapping solver time 14.451187 ms 
filter time 15.945387 ms 
--------------------stamp1317358259.764935016
sort q time 3.826780 
seperate points time 7.540765 
publication time 6.135887 ms 
whole laserOdometry time 6.149125 ms 
 
mapping data assosiation time 15.584121 ms 
mapping solver time 20.966560 ms 
[0m[ INFO] [1718890342.760478790, 1317358259.856491275]: Received 349483 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890342.760519581, 1317358259.856491275]: Data saved to 1317358258725771.pcd[0m
points size 64147 
sort q time 3.308790 
seperate points time 8.619246 
filter time 19.622159 ms 
map prepare time 3.527480 ms
map corner num 260795  surf num 92596 
--------------------stamp1317358259.972868919
sort q time 4.197347 
seperate points time 10.373346 
publication time 7.284130 ms 
whole laserOdometry time 7.292890 ms 
 -----t: 0.0405491
OdomCount 4793 & avg odom time 0.044982 ms ++++++++++++++++++++++
mapping solver time 18.631400 ms 
filter time 15.540695 ms 
sort q time 3.688035 
seperate points time 7.796275 
publication time 7.771487 ms 
whole laserOdometry time 7.786763 ms 
 
-----t: 0.0386548
OdomCount 4794 & avg odom time 0.044980 ms ++++++++++++++++++++++
1317358260.076836109 WriteOdom laser_odom_to_init
1317358260.076836109 WriteOdom aft_mapped_to_init_high_frec
build tree time 71.294021 ms 
mapping data assosiation time 16.622424 ms 
--------------------stamp1317358260.180804014
sort q time 4.899397 
seperate points time 10.581678 
publication time 5.970411 ms 
whole laserOdometry time 5.987168 ms 
 
-----t: 0.0490739
OdomCount 4795 & avg odom time 0.044981 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358260.284770011
sort q time 3.894539 
seperate points time 9.496094 
publication time 6.252217 ms 
whole laserOdometry time 6.261252 ms 
 
-----t: 0.0396165
OdomCount 4796 & avg odom time 0.044980 ms ++++++++++++++++++++++
1317358260.284770011 WriteOdom laser_odom_to_init
1317358260.284770011 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.319658 ms 
mapping solver time 19.359079 ms 
mapping data assosiation time 17.471150 ms 
points size 70645 
sort q time 3.686376 
seperate points time 9.240086 
publication time 7.084484 ms 
whole laserOdometry time 7.098617 ms 
 
-----t: 0.0545364
OdomCount 4797 & avg odom time 0.044982 ms ++++++++++++++++++++++
--------------------stamp1317358260.492655038
mapping data assosiation time 18.980530 ms 
mapping solver time 21.246503 ms 
mapping data assosiation time 19.147512 ms 
mapping solver time 16.795795 ms 
--------------------stamp1317358260.596613883
sort q time 4.074482 
seperate points time 9.842687 
publication time 8.751099 ms 
whole laserOdometry time 8.763368 ms 
 
build tree time 65.898426 ms 
mapping data assosiation time 18.158065 ms 
--------------------stamp1317358260.700579881
mapping solver time 21.530442 ms 
publication time 11.919057 ms 
whole laserOdometry time 11.937352 ms 
 
mapping data assosiation time 22.746694 ms 
mapping solver time 20.839647 ms 
filter time 18.523942 ms 
map prepare time 3.165255 ms
map corner num 230332  surf num 85529 
--------------------stamp1317358260.804532051
sort q time 3.425720 
seperate points time 8.322499 
publication time 7.510770 ms 
whole laserOdometry time 7.525577 ms 
 
-----t: 0.0366244
OdomCount 4801 & avg odom time 0.044977 ms ++++++++++++++++++++++
mapping data assosiation time 18.945992 ms 
mapping solver time 19.956680 ms 
mapping data assosiation time 20.399294 ms 
mapping solver time 14.217246 ms 
filter time 18.596336 ms 
-----t: 0.0341489
OdomCount 4802 & avg odom time 0.044975 ms ++++++++++++++++++++++
build tree time 50.415036 ms 
--------------------stamp1317358261.012415885
sort q time 3.314913 
seperate points time 7.573063 
publication time 7.029820 ms 
whole laserOdometry time 7.043743 ms 
 
mapping solver time 23.599689 ms 
mapping data assosiation time 20.858056 ms 
mapping solver time 16.736220 ms 
filter time 14.003824 ms 
--------------------stamp1317358261.116365909
sort q time 3.986834 
seperate points time 8.499507 
publication time 9.099975 ms 
whole laserOdometry time 9.115161 ms 
 
-----t: 0.0312841
OdomCount 4804 & avg odom time 0.044970 ms ++++++++++++++++++++++
mapping data assosiation time 17.572100 ms 
mapping solver time 21.009348 ms 
--------------------stamp1317358261.220305919
mapping solver time 24.691606 ms 
map prepare time 3.700173 ms
map corner num 232144  surf num 86270 
1317358261.012415886 WriteOdom aft_mapped_to_init
--------------------stamp1317358261.324265956
sort q time 3.731875 
seperate points time 7.674469 
publication time 8.611182 ms mapping solver time 26.327026 ms 
mapping data assosiation time 17.285775 ms 
mapping solver time 24.794873 ms 
points size 66570 
1317358261.116365910 WriteOdom aft_mapped_to_init
publication time 7.399792 ms 
whole laserOdometry time 7.417047 ms 
 
-----t: 0.0347866
OdomCount 4807 & avg odom time 0.044963 ms ++++++++++++++++++++++
build tree time 53.840748 ms 
mapping data assosiation time 17.111734 ms 
points size 66425 
mapping solver time 26.426182 ms 
mapping data assosiation time 21.093866 ms 
mapping solver time 17.807918 ms 
filter time 13.749203 ms 
--------------------stamp1317358261.636287927
sort q time 4.206290 
seperate points time 8.125771 
publication time 5.363573 ms 
whole laserOdometry time 5.379162 ms 
 
-----t: 0.0419484
OdomCount 4809 & avg odom time 0.044960 ms ++++++++++++++++++++++
--------------------stamp1317358261.740375041
mapping pub time 171.304742 ms 
whole mapping time 327.829111 ms +++++
mappingCount 3161 & avg mapping time 154.166564 ms ++++++++++++++++++++++
build tree time 52.629644 ms 
points size 64860 
publication time 5.038006 ms 
whole laserOdometry time 5.052004 ms 
 
-----t: 0.0269635
OdomCount 4811 & avg odom time 0.044952 ms ++++++++++++++++++++++
mapping solver time 17.018431 ms 
filter time 16.361374 ms 
--------------------stamp1317358261.948525905
sort q time 3.344672 
seperate points time 7.400101 
-----t: 0.0376609
OdomCount 4812 & avg odom time 0.044951 ms ++++++++++++++++++++++
mapping data assosiation time 16.404245 ms 
mapping solver time 19.704813 ms 
prepare time 7.508066 
mapping solver time 23.665131 ms 
publication time 16.576495 ms 
whole laserOdometry time 16.601678 ms 
 
map prepare time 2.876648 ms
map corner num 234563  surf num 87209 
--------------------stamp1317358262.156773090
build tree time 59.684313 ms 
mapping data assosiation time 19.261973 ms 
-----t: 0.0366271
OdomCount 4814 & avg odom time 0.044948 ms ++++++++++++++++++++++
mapping data assosiation time 15.895155 ms 
mapping solver time 16.353783 ms 
--------------------stamp1317358262.260883092
sort q time 3.686438 
seperate points time 9.047004 
-----t: 0.0295459
OdomCount 4815 & avg odom time 0.044945 ms ++++++++++++++++++++++
build tree time 59.580043 ms 
mapping data assosiation time 18.075622 ms 
--------------------stamp1317358262.365017890
sort q time 4.289005 
seperate points time 8.302316 
scan registration time 16.900898 ms *************
publication time 6.909917 ms 
whole laserOdometry time 6.934988 ms 
 
mapping solver time 24.753412 ms 
filter time 14.079611 ms 
--------------------stamp1317358262.469151020
sort q time 8.287731 
seperate points time 12.843851 
build tree time 64.998243 ms 
mapping data assosiation time 21.695450 ms 
-----t: 0.0581509
OdomCount 4817 & avg odom time 0.044944 ms ++++++++++++++++++++++
mapping solver time 24.623803 ms 
mapping data assosiation time 18.220748 ms 
points size 72626 
sort q time 3.982226 
seperate points time 9.505515 
filter time 17.012478 ms 
mapping pub time 5.546633 ms 
whole mapping time 179.986408 ms +++++
mappingCount 3166 & avg mapping time 154.185386 ms ++++++++++++++++++++++
-----t: 0.0486729
OdomCount 4818 & avg odom time 0.044945 ms ++++++++++++++++++++++
--------------------stamp1317358262.677323102
sort q time 4.472092 
seperate points time 9.297151 
publication time 6.964614 ms 
whole laserOdometry time 6.977793 ms 
 
-----t: 0.0339806
OdomCount 4819 & avg odom time 0.044943 ms ++++++++++++++++++++++
mapping data assosiation time 18.844184 ms 
mapping solver time 16.830610 ms 
--------------------stamp1317358262.781410932
filter time 14.605280 ms 
sort q time 4.280187 
seperate points time 8.431676 
publication time 10.496559 ms 
whole laserOdometry time 10.508711 ms 
 
-----t: 0.0302733
OdomCount 4820 & avg odom time 0.044940 ms ++++++++++++++++++++++
build tree time 72.675720 ms 
--------------------stamp1317358262.885497093
points size 75970 
sort q time 4.123363 
seperate points time 9.949360 
publication time 7.371272 ms 
whole laserOdometry time 7.384281 ms 
 
-----t: 0.0379793
OdomCount 4821 & avg odom time 0.044938 ms ++++++++++++++++++++++
filter time 14.363321 ms 
--------------------stamp1317358262.989583969
sort q time 5.150361 
seperate points time 9.692694 
build tree time 58.727389 ms 
[0m[ INFO] [1718890345.942519258, 1317358263.042872802]: Received 324609 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890345.942556794, 1317358263.042872802]: Data saved to 1317358262260883.pcd[0m
mapping solver time 22.421086 ms 
mapping data assosiation time 19.980152 ms 
--------------------stamp1317358263.093599081
mapping solver time 19.293961 ms 
publication time 8.719813 ms 
whole laserOdometry time 8.732493 ms 
 
filter time 19.447995 ms 
-----t: 0.0450758
OdomCount 4823 & avg odom time 0.044938 ms ++++++++++++++++++++++
--------------------stamp1317358263.197570085
sort q time 4.572299 
seperate points time 10.190049 
publication time 7.867963 ms 
whole laserOdometry time 7.881143 ms 
 
mapping solver time 23.141026 ms 
mapping data assosiation time 21.680457 ms 
mapping solver time 14.455283 ms 
--------------------stamp1317358263.301513910
sort q time 4.419039 
seperate points time 10.802961 
publication time 8.624785 ms 
whole laserOdometry time 8.638306 ms 
 
-----t: 0.0432442
OdomCount 4825 & avg odom time 0.044938 ms ++++++++++++++++++++++
build tree time 60.883597 ms 
mapping data assosiation time 21.000131 ms 
--------------------stamp1317358263.405428886
mapping solver time 27.377068 ms 
publication time 9.477107 ms 
whole laserOdometry time 9.491722 ms 
 
-----t: 0.0454282
OdomCount 4826 & avg odom time 0.044938 ms ++++++++++++++++++++++
filter time 16.017974 ms 
map prepare time 3.720464 ms
map corner num 240431  surf num 90061 
points size 84138 
sort q time 5.222521 
seperate points time 10.257423 
publication time 10.293827 ms 
whole laserOdometry time 10.306848 ms 
 
build tree time 65.742142 ms 
-----t: 0.0537174
OdomCount 4827 & avg odom time 0.044940 ms ++++++++++++++++++++++
1317358263.509322881 WriteOdom laser_odom_to_init
1317358263.509322881 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358263.613181114
points size 84806 
prepare time 9.161350 
mapping data assosiation time 26.241391 ms 
mapping solver time 23.794014 ms 
filter time 15.173351 ms 
--------------------stamp1317358263.717004060
sort q time 4.671797 
seperate points time 10.413702 
build tree time 62.712168 ms 
mapping data assosiation time 24.980861 ms 
mapping solver time 28.770407 ms 
prepare time 8.505089 
mapping data assosiation time 27.516837 ms 
publication time 9.298507 ms 
whole laserOdometry time 9.309881 ms 
 
-----t: 0.0500336
OdomCount 4830 & avg odom time 0.044939 ms ++++++++++++++++++++++
--------------------stamp1317358263.924613952
points size 90988 
build tree time 61.243240 ms 
-----t: 0.038725
OdomCount 4831 & avg odom time 0.044937 ms ++++++++++++++++++++++
mapping solver time 26.075156 ms 
--------------------stamp1317358264.028363943
scan registration time 28.651599 ms *************
mapping solver time 35.009520 ms 
-----t: 0.0508764
OdomCount 4832 & avg odom time 0.044939 ms ++++++++++++++++++++++
map prepare time 3.569542 ms
map corner num 242510  surf num 91184 
--------------------stamp1317358264.132113933
prepare time 10.801390 
sort q time 6.198619 
seperate points time 12.854315 
publication time 11.194194 ms 
whole laserOdometry time 11.213250 ms 
 
-----t: 0.064627
OdomCount 4833 & avg odom time 0.044943 ms ++++++++++++++++++++++
mapping solver time 30.656548 ms 
--------------------stamp1317358264.235863924
mapping data assosiation time 26.768791 ms 
sort q time 5.509731 
seperate points time 20.164273 
mapping solver time 27.339416 ms 
-----t: 0.0429063
OdomCount 4834 & avg odom time 0.044942 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358264.339590072
sort q time 6.474925 
seperate points time 12.078991 
publication time 8.394910 ms 
whole laserOdometry time 8.410235 ms 
 
-----t: 0.0430648
OdomCount 4835 & avg odom time 0.044942 ms ++++++++++++++++++++++
mapping solver time 26.823952 ms 
--------------------stamp1317358264.443293094
mapping data assosiation time 29.860218 ms 
scan registration time 29.780567 ms *************
mapping solver time 28.080198 ms 
-----t: 0.0540894
OdomCount 4836 & avg odom time 0.044944 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358264.546972990
points size 99264 
sort q time 5.692803 
seperate points time 13.132382 
publication time 13.380129 ms 
whole laserOdometry time 13.397192 ms 
 
mapping data assosiation time 29.860123 ms 
--------------------stamp1317358264.650625944
prepare time 13.899473 
sort q time 6.156097 
seperate points time 14.333945 
publication time 12.158276 ms 
whole laserOdometry time 12.175548 ms 
 
-----t: 0.0519308
OdomCount 4838 & avg odom time 0.044947 ms ++++++++++++++++++++++
1317358264.650625944 WriteOdom laser_odom_to_init
1317358264.650625944 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317358264.754257917
prepare time 11.683254 
sort q time 6.276379 
seperate points time 13.176293 
publication time 9.378902 ms 
whole laserOdometry time 9.393664 ms 
 
build tree time 66.553312 ms 
-----t: 0.0407939
OdomCount 4839 & avg odom time 0.044946 ms ++++++++++++++++++++++
1317358264.754257917 WriteOdom laser_odom_to_init
1317358264.754257917 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.570282 ms 
--------------------stamp1317358264.857914924
sort q time 5.608078 
seperate points time 12.597498 
scan registration time 29.468409 ms *************
mapping data assosiation time 29.218347 ms 
publication time 10.736028 ms 
whole laserOdometry time 10.748103 ms 
 
mapping solver time 21.234018 ms 
mapping optimization time 172.599408 
mapping pub time 2.176678 ms 
whole mapping time 194.363936 ms +++++
mappingCount 3178 & avg mapping time 154.323164 ms ++++++++++++++++++++++
--------------------stamp1317358264.961591958
prepare time 13.182453 
sort q time 6.234936 
seperate points time 13.363052 
publication time 10.726723 ms 
whole laserOdometry time 10.741690 ms 
 
mapping data assosiation time 30.026797 ms 
mapping solver time 27.510821 ms 
points size 101161 
sort q time 6.325354 
seperate points time 12.182838 
publication time 10.762340 ms 
whole laserOdometry time 10.776204 ms 
 
mapping optimization time 184.397258 
-----t: 0.0555104
OdomCount 4842 & avg odom time 0.044950 ms ++++++++++++++++++++++
1317358265.065291881 WriteOdom laser_odom_to_init
1317358265.065291881 WriteOdom aft_mapped_to_init_high_frec
filter time 19.911920 ms 
mapping pub time 2.286868 ms 
whole mapping time 211.732647 ms +++++
mappingCount 3179 & avg mapping time 154.341227 ms ++++++++++++++++++++++
1317358264.754257917 WriteOdom aft_mapped_to_init
--------------------stamp1317358265.169020891
prepare time 12.162333 
sort q time 5.695715 
seperate points time 13.220264 
build tree time 63.126674 ms 
-----t: 0.0513882
OdomCount 4843 & avg odom time 0.044951 ms ++++++++++++++++++++++
--------------------stamp1317358265.272748947
prepare time 11.630828 
sort q time 7.368393 
seperate points time 23.559706 
-----t: 0.044862
OdomCount 4844 & avg odom time 0.044951 ms ++++++++++++++++++++++
1317358265.272748947 WriteOdom laser_odom_to_init
mapping solver time 36.125365 ms 
filter time 14.807950 ms 
map prepare time 4.149440 ms
map corner num 246902  surf num 93513 
points size 102023 
sort q time 6.494683 
seperate points time 13.615626 
scan registration time 31.629528 ms *************
publication time 9.774130 ms 
whole laserOdometry time 9.805640 ms 
 
build tree time 70.477596 ms 
mapping data assosiation time 25.358967 ms 
--------------------stamp1317358265.480273962
points size 102615 
mapping solver time 34.565458 ms 
scan registration time 34.573402 ms *************
publication time 9.945196 ms 
whole laserOdometry time 9.958477 ms 
 
mapping solver time 23.274992 ms 
filter time 14.992580 ms 
points size 102634 
sort q time 5.997865 
seperate points time 14.237948 
publication time 16.457477 ms 
whole laserOdometry time 16.471130 ms 
 
-----t: 0.0650518
OdomCount 4847 & avg odom time 0.044959 ms ++++++++++++++++++++++
--------------------stamp1317358265.687849044
sort q time 5.519758 
seperate points time 12.934104 
publication time 11.962285 ms 
whole laserOdometry time 11.988988 ms 
 
-----t: 0.054679
OdomCount 4848 & avg odom time 0.044961 ms ++++++++++++++++++++++
--------------------stamp1317358265.791624069
prepare time 12.786811 
sort q time 5.451418 
seperate points time 12.764961 
publication time 10.998358 ms 
whole laserOdometry time 11.011464 ms 
 
mapping solver time 28.803692 ms 
points size 100346 
sort q time 6.814006 
seperate points time 12.717670 
publication time 9.603462 ms 
whole laserOdometry time 9.617221 ms 
 
-----t: 0.0464097
OdomCount 4850 & avg odom time 0.044962 ms ++++++++++++++++++++++
filter time 18.063730 ms 
map prepare time 3.901746 ms
map corner num 248285  surf num 94136 
--------------------stamp1317358265.999171018
points size 99834 
sort q time 5.471836 
seperate points time 12.936374 
build tree time 64.966883 ms publication time 10.705341 ms 
whole laserOdometry time 10.722564 ms 
 
mapping data assosiation time 30.005344 ms 
mapping solver time 29.325742 ms 
points size 99374 
mapping data assosiation time 32.925194 ms 
mapping solver time 19.930950 ms filter time 18.279506 ms 
map prepare time 5.380164 ms--------------------stamp1317358266.206697940
sort q time 6.738702 
seperate points time 12.594427 
build tree time 70.208994 ms 
-----t: 0.0646174
OdomCount 4853 & avg odom time 0.044969 ms ++++++++++++++++++++++
--------------------stamp1317358266.310471057
prepare time 12.721284 
sort q time 5.884135 
seperate points time 12.953055 
publication time 9.245414 ms 
whole laserOdometry time 9.257988 ms 
 
mapping solver time 26.830672 ms 
filter time 17.137618 ms 
map prepare time 3.853806 ms
map corner num 249777  surf num 94853 
--------------------stamp1317358266.414247035
prepare time 11.550983 
sort q time 5.736641 
seperate points time 12.949565 
publication time 9.037433 ms 
whole laserOdometry time 9.079778 ms 
 
-----t: 0.0587631
OdomCount 4855 & avg odom time 0.044975 ms ++++++++++++++++++++++
1317358266.414247035 WriteOdom laser_odom_to_init
1317358266.414247035 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 33.361840 ms 
--------------------stamp1317358266.518023967
prepare time 12.916501 
sort q time 5.931371 
seperate points time 12.790762 
publication time 9.449988 ms 
whole laserOdometry time 9.461403 ms 
 
-----t: 0.0472309
OdomCount 4856 & avg odom time 0.044975 ms ++++++++++++++++++++++
1317358266.518023967 WriteOdom laser_odom_to_init
1317358266.518023967 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 25.819717 ms 
filter time 17.570912 ms 
points size 97591 
prepare time 14.267569 
scan registration time 33.308499 ms *************
publication time 9.053930 ms 
whole laserOdometry time 9.064948 ms 
 
1317358266.621773958 WriteOdom laser_odom_to_init
1317358266.621773958 WriteOdom aft_mapped_to_init_high_frec
build tree time 68.064864 ms 
mapping data assosiation time 25.119886 ms 
points size 97538 
mapping solver time 25.146936 ms 
publication time 11.084700 ms 
whole laserOdometry time 11.102738 ms 
 
-----t: 0.0535748
OdomCount 4858 & avg odom time 0.044978 ms ++++++++++++++++++++++
mapping solver time 25.829072 ms 
filter time 15.237722 ms 
map prepare time 5.222732 ms
map corner num 251106  surf num 95567 
sort q time 5.587369 
seperate points time 12.701857 
publication time 8.691347 ms 
whole laserOdometry time 8.702538 ms 
 
-----t: 0.0468715
OdomCount 4859 & avg odom time 0.044979 ms ++++++++++++++++++++++
build tree time 67.753712 ms 
mapping data assosiation time 24.047475 ms 
points size 97014 
mapping solver time 27.058957 ms 
publication time 8.293321 ms 
whole laserOdometry time 8.308698 ms 
 
1317358266.933027029 WriteOdom laser_odom_to_init
1317358266.933027029 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 18.542920 ms 
filter time 17.546025 ms 
points size 96790 
sort q time 5.533467 
seperate points time 13.058200 
publication time 8.208064 ms 
whole laserOdometry time 8.221758 ms 
 
build tree time 67.770083 ms 
mapping data assosiation time 29.050003 ms 
points size 96169 
sort q time 5.556129 
seperate points time 12.954731 
publication time 9.029677 ms 
whole laserOdometry time 9.039755 ms 
 
-----t: 0.060753
OdomCount 4862 & avg odom time 0.044980 ms ++++++++++++++++++++++
mapping solver time 24.830733 ms 
--------------------stamp1317358267.244302034
prepare time 13.302111 
sort q time 5.844327 
seperate points time 11.334593 
[0m[ INFO] [1718890350.181840469, 1317358267.282475792]: Received 346673 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890350.181934019, 1317358267.282475792]: Data saved to 1317358266414247.pcd[0m
-----t: 0.0567621
OdomCount 4863 & avg odom time 0.044983 ms ++++++++++++++++++++++
build tree time 69.756346 ms 
--------------------stamp1317358267.348052024
sort q time 6.217823 
seperate points time 13.115118 
publication time 7.760731 ms 
whole laserOdometry time 7.776698 ms 
 
-----t: 0.0478729
OdomCount 4864 & avg odom time 0.044983 ms ++++++++++++++++++++++
mapping data assosiation time 29.990436 ms 
mapping solver time 17.630942 ms 
points size 90051 
map prepare time 4.800073 ms
map corner num 253041  surf num 96531 
publication time 9.387303 ms 
whole laserOdometry time 9.400006 ms 
 
-----t: 0.0487006
OdomCount 4865 & avg odom time 0.044984 ms ++++++++++++++++++++++
build tree time 71.677760 ms 
points size 89103 
sort q time 5.153691 
seperate points time 12.218828 
publication time 8.698918 ms 
whole laserOdometry time 8.713660 ms 
 
mapping solver time 38.538734 ms 
mapping data assosiation time 25.628303 ms 
mapping solver time 17.767021 ms 
points size 88377 
sort q time 5.012430 
seperate points time 10.733540 
publication time 9.913160 ms -----t: 0.0535998
OdomCount 4867 & avg odom time 0.044986 ms ++++++++++++++++++++++
1317358267.659256935 WriteOdom aft_mapped_to_init_high_frec
1317358267.659256935 WriteOdom laser_odom_to_init
build tree time 68.200418 ms 
points size 86722 
sort q time 5.936584 
seperate points time 12.543772 
mapping data assosiation time 30.714010 ms 
publication time 9.614407 ms 
whole laserOdometry time 9.629787 ms 
 
-----t: 0.041097
OdomCount 4868 & avg odom time 0.044985 ms ++++++++++++++++++++++
mapping data assosiation time 24.473406 ms 
--------------------stamp1317358267.866830110
mapping solver time 31.357273 ms 
publication time 8.842023 ms 
whole laserOdometry time 8.869655 ms 
 
filter time 24.409776 ms 
mapping pub time 6.992148 ms 
whole mapping time 233.642745 ms +++++
mappingCount 3191 & avg mapping time 154.617438 ms ++++++++++++++++++++++
--------------------stamp1317358267.970702886
sort q time 5.079786 
seperate points time 10.053238 
build tree time 67.082230 ms 
publication time 10.119023 ms 
whole laserOdometry time 10.132261 ms 
 
-----t: 0.0511466
OdomCount 4870 & avg odom time 0.044986 ms ++++++++++++++++++++++
mapping solver time 31.244619 ms 
--------------------stamp1317358268.074620962
sort q time 5.056371 
seperate points time 9.924846 
mapping solver time 33.438521 ms 
filter time 19.660045 ms 
--------------------stamp1317358268.178560972
sort q time 5.135744 
seperate points time 11.043664 
publication time 10.503771 ms 
whole laserOdometry time 10.519860 ms 
 
mapping data assosiation time 33.012605 ms 
--------------------stamp1317358268.282576084
mapping data assosiation time 27.094333 ms 
publication time 8.374374 ms 
whole laserOdometry time 8.389488 ms 
 
mapping solver time 29.686743 ms 
-----t: 0.0418727
OdomCount 4873 & avg odom time 0.044986 ms ++++++++++++++++++++++
mapping pub time 2.011460 ms 
whole mapping time 210.535073 ms +++++
mappingCount 3193 & avg mapping time 154.655213 ms ++++++++++++++++++++++
1317358267.970702887 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358268.386663913
sort q time 5.298687 
seperate points time 10.660780 
publication time 11.152075 ms 
whole laserOdometry time 11.184432 ms 
 
-----t: 0.0427034
OdomCount 4874 & avg odom time 0.044985 ms ++++++++++++++++++++++
mapping data assosiation time 29.756678 ms 
mapping solver time 26.236071 ms 
points size 82199 
sort q time 4.631050 
seperate points time 11.194779 
publication time 8.553748 ms 
whole laserOdometry time 8.568063 ms 
 
mapping solver time 36.526507 ms 
filter time 19.916950 ms 
--------------------stamp1317358268.595056056
sort q time 4.968812 
seperate points time 10.094319 
publication time 8.480817 ms 
whole laserOdometry time 8.494226 ms 
 
build tree time 71.884255 ms 
mapping data assosiation time 24.129952 ms 
--------------------stamp1317358268.699335098
points size 81647 
sort q time 4.635633 
seperate points time 11.106703 
mapping data assosiation time 28.687956 ms 
mapping solver time 29.534731 ms 
-----t: 0.0625196
OdomCount 4877 & avg odom time 0.044996 ms ++++++++++++++++++++++
drop lidar frame in mapping for real time performance 
--------------------stamp1317358268.803637027
sort q time 5.541435 
seperate points time 11.243439 
scan registration time 23.004416 ms *************
-----t: 0.0379623
OdomCount 4878 & avg odom time 0.044994 ms ++++++++++++++++++++++
build tree time 72.591459 ms 
mapping data assosiation time 20.938504 ms 
--------------------stamp1317358268.907962083
sort q time 4.641923 
seperate points time 9.378955 
mapping data assosiation time 25.944881 ms 
publication time 11.376291 ms 
whole laserOdometry time 11.396367 ms 
 
mapping optimization time 173.632323 
-----t: 0.0621675
OdomCount 4879 & avg odom time 0.044998 ms ++++++++++++++++++++++
mapping pub time 6.433123 ms 
whole mapping time 208.047230 ms +++++
mappingCount 3196 & avg mapping time 154.710068 ms ++++++++++++++++++++++
--------------------stamp1317358269.012336015
sort q time 5.443978 
seperate points time 10.870672 
publication time 8.543930 ms 
whole laserOdometry time 8.560494 ms 
 
-----t: 0.0686353
OdomCount 4880 & avg odom time 0.045002 ms ++++++++++++++++++++++
--------------------stamp1317358269.116710901
sort q time 4.742185 
seperate points time 9.749719 
-----t: 0.0626623
OdomCount 4881 & avg odom time 0.045006 ms ++++++++++++++++++++++
map prepare time 3.588561 ms
map corner num 258801  surf num 98618 
points size 83638 
sort q time 5.546450 
seperate points time 11.100307 
publication time 16.966224 ms 
whole laserOdometry time 17.032230 ms 
 
build tree time 77.564303 ms 
mapping data assosiation time 18.990546 ms 
--------------------stamp1317358269.325341939
sort q time 5.117070 
seperate points time 10.709298 
publication time 9.880852 ms 
whole laserOdometry time 9.894941 ms 
 
mapping solver time 32.735253 ms 
filter time 17.297096 ms 
--------------------stamp1317358269.429596900
--------------------stamp1317358269.533802986
prepare time 10.612466 
mapping data assosiation time 26.507688 ms 
publication time 8.645548 ms 
whole laserOdometry time 8.660251 ms 
 
-----t: 0.0514641
OdomCount 4885 & avg odom time 0.045008 ms ++++++++++++++++++++++
map prepare time 3.420911 ms
map corner num 260033  surf num 98906 
--------------------stamp1317358269.638009071
sort q time 5.528024 
seperate points time 10.646449 
publication time 6.253940 ms 
whole laserOdometry time 6.268767 ms 
 
build tree time 69.240884 ms 
mapping data assosiation time 24.091127 ms 
-----t: 0.0561376
OdomCount 4886 & avg odom time 0.045010 ms ++++++++++++++++++++++
1317358269.638009071 WriteOdom laser_odom_to_init
1317358269.638009071 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 23.792419 ms 
points size 89652 
sort q time 4.993931 
seperate points time 11.117386 
scan registration time 21.432055 ms *************
publication time 8.824876 ms 
whole laserOdometry time 8.837307 ms 
 
filter time 25.986938 ms 
--------------------stamp1317358269.846302032
points size 91037 
sort q time 5.385027 
seperate points time 12.233956 
publication time 8.524722 ms 
whole laserOdometry time 8.538605 ms 
 
-----t: 0.0540287
OdomCount 4888 & avg odom time 0.045015 ms ++++++++++++++++++++++
mapping data assosiation time 25.718145 ms 
--------------------stamp1317358269.950436115
mapping solver time 29.682776 ms 
points size 90510 
prepare time 12.864286 
scan registration time 31.042102 ms *************
publication time 7.895505 ms 
whole laserOdometry time 7.914664 ms 
 
-----t: 0.0399324
OdomCount 4889 & avg odom time 0.045014 ms ++++++++++++++++++++++
1317358269.950436115 WriteOdom laser_odom_to_init
1317358269.950436115 WriteOdom aft_mapped_to_init_high_frec
filter time 23.797704 ms 
--------------------stamp1317358270.054522991
sort q time 4.912062 
seperate points time 11.307590 
publication time 8.266665 ms 
whole laserOdometry time 8.283279 ms 
 
--------------------stamp1317358270.158561944
points size 88870 
prepare time 8.661101 
sort q time 5.172506 
seperate points time 11.083979 
-----t: 0.0578308
OdomCount 4891 & avg odom time 0.045016 ms ++++++++++++++++++++++
mapping pub time 204.080990 ms 
whole mapping time 424.365853 ms +++++
mappingCount 3201 & avg mapping time 154.854021 ms ++++++++++++++++++++++
--------------------stamp1317358270.262602090
sort q time 5.018744 
seperate points time 11.491751 
publication time 8.350073 ms 
whole laserOdometry time 8.364484 ms 
 
-----t: 0.0432088
OdomCount 4892 & avg odom time 0.045016 ms ++++++++++++++++++++++
build tree time 83.850526 ms 
mapping data assosiation time 22.664268 ms 
--------------------stamp1317358270.366617918
mapping solver time 27.884945 ms 
sort q time 4.951161 
seperate points time 10.513842 
scan registration time 20.630284 ms *************
publication time 8.266104 ms 
whole laserOdometry time 8.279645 ms 
 
mapping solver time 23.670589 ms 
filter time 16.173277 ms 
--------------------stamp1317358270.470609903
sort q time 5.436423 
seperate points time 12.244756 
-----t: 0.0452742
OdomCount 4894 & avg odom time 0.045015 ms ++++++++++++++++++++++
1317358270.470609903 WriteOdom laser_odom_to_init
1317358270.470609903 WriteOdom aft_mapped_to_init_high_frec
build tree time 71.877044 ms 
mapping data assosiation time 21.668480 ms 
--------------------stamp1317358270.574600934
sort q time 5.041133 
seperate points time 11.337042 
publication time 8.812749 ms 
whole laserOdometry time 8.826719 ms 
 
1317358270.574600934 WriteOdom aft_mapped_to_init_high_frec
filter time 16.594018 ms 
--------------------stamp1317358270.678566932
points size 83637 
sort q time 4.950028 
seperate points time 11.628396 
scan registration time 23.961859 ms *************
build tree time 70.875505 ms 
publication time 17.942153 ms 
whole laserOdometry time 17.957576 ms 
 
mapping data assosiation time 27.579683 ms 
--------------------stamp1317358270.782531976
sort q time 4.534456 
seperate points time 9.141463 
scan registration time 18.802120 ms *************
-----t: 0.0414133
OdomCount 4897 & avg odom time 0.045019 ms ++++++++++++++++++++++
filter time 24.571639 ms 
map prepare time 4.349358 ms
map corner num 263285  surf num 99536 
--------------------stamp1317358270.886497020
sort q time 5.221479 
seperate points time 10.064744 
publication time 11.711446 ms 
whole laserOdometry time 11.725648 ms 
 
1317358270.886497020 WriteOdom aft_mapped_to_init_high_frec
build tree time 82.985321 ms 
mapping data assosiation time 24.976611 ms 
points size 74019 
sort q time 4.300462 
seperate points time 9.703672 
publication time 6.783337 ms 
whole laserOdometry time 6.796725 ms 
 
-----t: 0.0487469
OdomCount 4899 & avg odom time 0.045018 ms ++++++++++++++++++++++
filter time 22.847432 ms 
--------------------stamp1317358271.094433069
sort q time 3.562724 
seperate points time 7.940586 
publication time 7.862930 ms 
whole laserOdometry time 7.874455 ms 
 
-----t: 0.0370217
OdomCount 4900 & avg odom time 0.045017 ms ++++++++++++++++++++++
build tree time 74.758109 ms 
mapping data assosiation time 21.157137 ms 
--------------------stamp1317358271.198373079
sort q time 5.014233 
seperate points time 9.480220 
mapping data assosiation time 25.147173 ms 
-----t: 0.0331428
OdomCount 4901 & avg odom time 0.045014 ms ++++++++++++++++++++++
mapping solver time 24.123734 ms 
filter time 16.361103 ms 
map prepare time 3.789999 ms
map corner num 264785  surf num 99850 
--------------------stamp1317358271.302318096
sort q time 5.123479 
seperate points time 10.049589 
publication time 7.294121 ms 
whole laserOdometry time 7.305761 ms 
 
1317358271.302318096 WriteOdom laser_odom_to_init
build tree time 76.890821 ms 
mapping data assosiation time 20.640829 ms 
mapping solver time 19.449317 ms 
points size 73574 
mapping data assosiation time 26.193642 ms 
publication time 8.435343 ms 
whole laserOdometry time 8.449198 ms 
 
filter time 16.836785 ms 
--------------------stamp1317358271.510179042
sort q time 4.118501 
seperate points time 9.971051 
publication time 9.536681 ms mapping data assosiation time 22.328927 ms 
mapping solver time 22.849153 ms 
--------------------stamp1317358271.614098072
sort q time 4.412405 
seperate points time 8.675988 
mapping solver time 22.349808 ms 
mapping optimization time 162.076555 
add points time 1.011367 ms
filter time 23.116968 ms 
--------------------stamp1317358271.718017101
build tree time 61.995932 ms 
publication time 8.424226 ms 
whole laserOdometry time 8.452913 ms 
 
mapping solver time 26.476527 ms 
mapping data assosiation time 19.997198 ms 
--------------------stamp1317358271.821934938
mapping solver time 26.290200 ms 
filter time 22.608291 ms 
-----t: 0.0376639
OdomCount 4907 & avg odom time 0.045007 ms ++++++++++++++++++++++
--------------------stamp1317358271.925854921
sort q time 4.925829 
seperate points time 11.500439 
publication time 8.974641 ms 
whole laserOdometry time 8.993675 ms 
 
mapping solver time 27.597578 ms 
mapping data assosiation time 22.283002 ms 
mapping solver time 21.638035 ms 
--------------------stamp1317358272.029772996
drop lidar frame in mapping for real time performance 
publication time 9.130392 ms 
whole laserOdometry time 9.143629 ms 
 
build tree time 64.852007 ms 
--------------------stamp1317358272.133692026
sort q time 5.813480 
seperate points time 12.024178 
mapping solver time 25.685377 ms 
-----t: 0.0419335
OdomCount 4910 & avg odom time 0.045006 ms ++++++++++++++++++++++
mapping solver time 17.990864 ms 
filter time 15.178997 ms 
map prepare time 4.155264 ms
map corner num 251347  surf num 95641 
sort q time 5.621000 
seperate points time 12.937666 
publication time 10.060927 ms 
whole laserOdometry time 10.075379 ms 
 
-----t: 0.0493023
OdomCount 4911 & avg odom time 0.045007 ms ++++++++++++++++++++++
build tree time 74.373676 ms 
--------------------stamp1317358272.341456890
points size 90143 
mapping solver time 23.069959 ms 
-----t: 0.0362257
OdomCount 4912 & avg odom time 0.045005 ms ++++++++++++++++++++++
mapping solver time 20.330833 ms 
filter time 18.289952 ms 
--------------------stamp1317358272.445327997
points size 88152 
sort q time 5.061926 
seperate points time 11.670030 
publication time 9.839690 ms 
whole laserOdometry time 9.875388 ms 
 
-----t: 0.0393899
OdomCount 4913 & avg odom time 0.045004 ms ++++++++++++++++++++++
mapping data assosiation time 20.427759 ms 
--------------------stamp1317358272.549175977
mapping solver time 24.539912 ms 
mapping data assosiation time 26.169078 ms 
publication time 10.663453 ms 
whole laserOdometry time 10.680116 ms 
 
-----t: 0.0500088
OdomCount 4914 & avg odom time 0.045005 ms ++++++++++++++++++++++
filter time 17.807823 ms 
--------------------stamp1317358272.652997970
sort q time 5.433840 
seperate points time 10.828963 
publication time 9.266577 ms 
whole laserOdometry time 9.296589 ms 
 
mapping data assosiation time 20.522148 ms 
mapping solver time 22.574523 ms 
points size 80461 
sort q time 5.657539 
seperate points time 12.559559 
scan registration time 24.548226 ms *************
-----t: 0.046541
OdomCount 4916 & avg odom time 0.045003 ms ++++++++++++++++++++++
publication time 9.328820 ms 
whole laserOdometry time 9.336819 ms 
 
map prepare time 3.657804 ms
map corner num 253459  surf num 96303 
--------------------stamp1317358272.860691070
sort q time 4.583975 
seperate points time 11.270810 
publication time 7.195333 ms 
whole laserOdometry time 7.207353 ms 
 
-----t: 0.0443662
OdomCount 4917 & avg odom time 0.045003 ms ++++++++++++++++++++++
mapping data assosiation time 25.782884 ms 
mapping solver time 24.026077 ms 
points size 80646 
scan registration time 18.945589 ms *************
mapping solver time 19.813066 ms 
-----t: 0.0346059
OdomCount 4918 & avg odom time 0.045001 ms ++++++++++++++++++++++
mapping pub time 1.949408 ms 
whole mapping time 199.334196 ms +++++
mappingCount 3215 & avg mapping time 155.036281 ms ++++++++++++++++++++++
--------------------stamp1317358273.068288087
sort q time 5.350916 
seperate points time 10.525196 
publication time 7.448284 ms 
whole laserOdometry time 7.463701 ms 
 
-----t: 0.0357807
OdomCount 4919 & avg odom time 0.044999 ms ++++++++++++++++++++++
mapping solver time 19.499883 ms 
mapping data assosiation time 20.433076 ms 
points size 81589 
prepare time 9.560223 
mapping solver time 18.480104 ms 
mapping optimization time 151.988270 
add points time 1.543283 ms
publication time 8.890843 ms 
whole laserOdometry time 8.904459 ms 
 
map prepare time 3.695165 ms
map corner num 254914  surf num 96705 
[0m[ INFO] [1718890356.161466631, 1317358273.255192358]: Received 351619 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890356.161525171, 1317358273.255192358]: Data saved to 1317358272860691.pcd[0m
--------------------stamp1317358273.275886058
points size 80694 
prepare time 7.761122 
mapping data assosiation time 27.934101 ms 
-----t: 0.0349436
OdomCount 4921 & avg odom time 0.044995 ms ++++++++++++++++++++++
mapping solver time 30.625036 ms 
mapping data assosiation time 20.551169 ms 
--------------------stamp1317358273.379708051
sort q time 4.707915 
seperate points time 11.076933 
publication time 7.625748 ms 
whole laserOdometry time 7.639624 ms 
 
-----t: 0.0427379
OdomCount 4922 & avg odom time 0.044995 ms ++++++++++++++++++++++
--------------------stamp1317358273.483505964
prepare time 9.681487 
sort q time 4.691348 
seperate points time 11.158842 
publication time 8.479282 ms 
whole laserOdometry time 8.501292 ms 
 
-----t: 0.0494575
OdomCount 4923 & avg odom time 0.044995 ms ++++++++++++++++++++++
mapping data assosiation time 22.876040 ms 
--------------------stamp1317358273.587306022
add points time 1.352592 ms
sort q time 4.716238 
seperate points time 11.327531 
drop lidar frame in mapping for real time performance 
-----t: 0.0368621
OdomCount 4924 & avg odom time 0.044994 ms ++++++++++++++++++++++
--------------------stamp1317358273.691129922
sort q time 4.725586 
seperate points time 11.011596 
publication time 7.321464 ms 
whole laserOdometry time 7.358710 ms 
 
mapping solver time 33.842196 ms 
mapping data assosiation time 26.730439 ms 
--------------------stamp1317358273.794930934
mapping solver time 28.157604 ms 
sort q time 14.363870 
seperate points time 20.390635 
filter time 26.117448 ms 
-----t: 0.0508205
OdomCount 4926 & avg odom time 0.044993 ms ++++++++++++++++++++++
--------------------stamp1317358273.898705005
sort q time 4.775352 
seperate points time 10.056362 
build tree time 86.125557 ms 
-----t: 0.0427691
OdomCount 4927 & avg odom time 0.044992 ms ++++++++++++++++++++++
mapping solver time 19.098098 ms 
mapping data assosiation time 20.012750 ms 
sort q time 4.646427 
seperate points time 9.729788 
publication time 7.468110 ms 
whole laserOdometry time 7.482895 ms 
 
map prepare time 3.434066 ms
map corner num 257745  surf num 97426 
--------------------stamp1317358274.106300115
prepare time 8.652600 
scan registration time 20.682367 ms *************
publication time 6.555886 ms 
whole laserOdometry time 6.570271 ms 
 
-----t: 0.0346211
OdomCount 4929 & avg odom time 0.044988 ms ++++++++++++++++++++++
mapping solver time 27.245232 ms 
mapping data assosiation time 21.111721 ms 
--------------------stamp1317358274.210100889
sort q time 4.548890 
seperate points time 9.005857 
publication time 8.466532 ms 
whole laserOdometry time 8.489835 ms 
 
-----t: 0.0608972
OdomCount 4930 & avg odom time 0.044991 ms ++++++++++++++++++++++
--------------------stamp1317358274.313924074
sort q time 3.850396 
seperate points time 9.519252 
publication time 6.914781 ms 
whole laserOdometry time 6.927839 ms 
 
[0m[ INFO] [1718890357.314159246, 1317358274.414118581]: Received 356002 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890357.314213691, 1317358274.414118581]: Data saved to 1317358273794930.pcd[0m
1317358273.794930935 WriteOdom aft_mapped_to_init
publication time 6.713312 ms 
whole laserOdometry time 6.727634 ms 
 
-----t: 0.0550735
OdomCount 4932 & avg odom time 0.044991 ms ++++++++++++++++++++++
build tree time 69.006648 ms 
--------------------stamp1317358274.521495103
sort q time 4.488267 
seperate points time 10.666263 
scan registration time 22.990213 ms *************
mapping solver time 30.909663 ms 
mapping data assosiation time 25.679840 ms 
mapping solver time 19.993503 ms 
filter time 15.324301 ms 
points size 83198 
sort q time 4.886338 
seperate points time 11.394782 
publication time 9.082211 ms 
whole laserOdometry time 9.095929 ms 
 
build tree time 68.803143 ms 
mapping data assosiation time 22.588020 ms 
points size 82541 
sort q time 4.861948 
seperate points time 10.831318 
publication time 8.020739 ms 
whole laserOdometry time 8.031598 ms 
 
mapping data assosiation time 26.608150 ms 
mapping solver time 20.240548 ms 
filter time 15.577081 ms 
--------------------stamp1317358274.832771062
sort q time 5.168583 
seperate points time 11.250701 
scan registration time 22.174909 ms *************
publication time 8.443393 ms 
whole laserOdometry time 8.453392 ms 
 
mapping data assosiation time 19.298195 ms 
mapping solver time 23.098121 ms 
points size 86960 
scan registration time 21.260659 ms *************
publication time 7.911891 ms 
whole laserOdometry time 7.945049 ms 
 
-----t: 0.0338386
OdomCount 4937 & avg odom time 0.044984 ms ++++++++++++++++++++++
filter time 17.422634 ms 
--------------------stamp1317358275.040272951
sort q time 4.661386 
seperate points time 10.307531 
scan registration time 23.068758 ms *************
mapping data assosiation time 28.518070 ms 
mapping solver time 18.189729 ms 
mapping data assosiation time 21.243015 ms 
points size 84546 
sort q time 5.188226 
seperate points time 10.764909 
filter time 20.870339 ms 
mapping pub time 2.417036 ms 
whole mapping time 180.476762 ms +++++
mappingCount 3225 & avg mapping time 155.215534 ms ++++++++++++++++++++++
1317358274.832771063 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 13.547302 ms 
whole laserOdometry time 13.562859 ms 
 
map prepare time 5.155519 ms
map corner num 254036  surf num 92409 
--------------------stamp1317358275.247756958
sort q time 4.806036 
seperate points time 10.506506 
publication time 7.689278 ms 
whole laserOdometry time 7.701740 ms 
 
1317358275.247756958 WriteOdom laser_odom_to_init
1317358275.247756958 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 22.204255 ms 
mapping solver time 14.362063 ms 
prepare time 8.230688 
scan registration time 21.515631 ms *************
-----t: 0.0553665
OdomCount 4941 & avg odom time 0.044982 ms ++++++++++++++++++++++
build tree time 66.522601 ms 
--------------------stamp1317358275.455178976
scan registration time 21.212545 ms *************
publication time 7.351007 ms 
mapping solver time 25.158615 ms 
whole laserOdometry time 7.369001 ms 
 -----t: 0.0517483
OdomCount 4942 & avg odom time 0.044984 ms ++++++++++++++++++++++
mapping solver time 13.749734 ms 
filter time 15.356903 ms 
sort q time 4.627683 
seperate points time 9.845836 
publication time 8.291282 ms 
whole laserOdometry time 8.305271 ms 
 
-----t: 0.0613391
OdomCount 4943 & avg odom time 0.044987 ms ++++++++++++++++++++++
--------------------stamp1317358275.662585973
sort q time 4.995315 
seperate points time 10.879456 
publication time 8.631599 ms 
whole laserOdometry time 8.700899 ms 
 
mapping solver time 13.961793 ms 
filter time 15.033557 ms 
--------------------stamp1317358275.766288042
sort q time 5.253449 
seperate points time 10.303349 
publication time 9.797998 ms 
whole laserOdometry time 9.825099 ms 
 
mapping data assosiation time 22.417601 ms 
--------------------stamp1317358275.869988918
mapping solver time 25.340371 ms 
sort q time 4.618143 
seperate points time 10.873438 
publication time 7.662621 ms 
whole laserOdometry time 7.677538 ms 
 
mapping optimization time 172.273295 
filter time 17.834077 ms 
--------------------stamp1317358275.973691940
sort q time 4.748411 
seperate points time 11.369964 
publication time 7.730168 ms 
whole laserOdometry time 7.745116 ms 
 
mapping data assosiation time 25.492434 ms 
mapping solver time 25.534592 ms 
points size 89109 
sort q time 5.810077 
seperate points time 11.666018 
publication time 7.395127 ms 
whole laserOdometry time 7.412929 ms 
 
filter time 17.395500 ms 
points size 88226 
build tree time 66.842125 ms 
publication time 8.601811 ms 
whole laserOdometry time 8.616444 ms 
 
1317358276.181097984 WriteOdom laser_odom_to_init
mapping solver time 26.436289 ms 
--------------------stamp1317358276.284800052
prepare time 10.808404 
mapping solver time 25.492827 ms 
publication time 10.344180 ms 
whole laserOdometry time 10.358116 ms 
 
1317358275.973691940 WriteOdom aft_mapped_to_init
--------------------stamp1317358276.388504028
build tree time 61.449242 ms 
publication time 6.850934 ms 
whole laserOdometry time 6.862239 ms 
 
-----t: 0.0431807
OdomCount 4951 & avg odom time 0.044981 ms ++++++++++++++++++++++
mapping solver time 25.919296 ms 
mapping data assosiation time 21.984201 ms 
points size 90527 
mapping solver time 25.804322 ms 
mapping optimization time 163.400417 
publication time 7.953722 ms 
whole laserOdometry time 7.967459 ms 
 
filter time 22.510400 ms 
mapping pub time 2.142158 ms 
whole mapping time 193.167579 ms +++++
mappingCount 3232 & avg mapping time 155.293707 ms ++++++++++++++++++++++
1317358276.181097984 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
--------------------stamp1317358276.595911026
build tree time 63.420938 ms 
scan registration time 25.215486 ms *************
mapping data assosiation time 27.197758 ms 
-----t: 0.0379215
OdomCount 4953 & avg odom time 0.044978 ms ++++++++++++++++++++++
mapping solver time 27.253537 ms 
mapping data assosiation time 21.567489 ms 
--------------------stamp1317358276.699635982
sort q time 5.650045 
seperate points time 11.734953 
scan registration time 22.896114 ms *************
filter time 17.870497 ms 
-----t: 0.0397184
OdomCount 4954 & avg odom time 0.044977 ms ++++++++++++++++++++++
build tree time 58.745192 ms 
points size 95392 
prepare time 10.922124 
publication time 7.962367 ms 
whole laserOdometry time 7.973932 ms 
 
mapping data assosiation time 24.267452 ms 
mapping solver time 19.740482 ms 
--------------------stamp1317358276.907186031
prepare time 13.833197 
sort q time 12.088356 
seperate points time 18.673640 
publication time 10.793194 ms 
whole laserOdometry time 10.807633 ms 
 
build tree time 67.843494 ms 
--------------------stamp1317358277.011032104
prepare time 13.275079 
sort q time 5.124068 
seperate points time 11.942354 
mapping solver time 37.626035 ms 
-----t: 0.0424989
OdomCount 4957 & avg odom time 0.044977 ms ++++++++++++++++++++++
mapping solver time 20.284347 ms 
--------------------stamp1317358277.114928960
sort q time 5.366024 
seperate points time 10.692994 
publication time 8.660998 ms 
whole laserOdometry time 8.686169 ms 
 
build tree time 71.573654 ms 
-----t: 0.0833423
OdomCount 4958 & avg odom time 0.044985 ms ++++++++++++++++++++++
prepare time 10.760730 
sort q time 6.077572 
seperate points time 11.392713 
publication time 9.694569 ms 
whole laserOdometry time 9.708491 ms 
 
-----t: 0.0521943
OdomCount 4959 & avg odom time 0.044987 ms ++++++++++++++++++++++
1317358277.218823909 WriteOdom laser_odom_to_init
1317358277.218823909 WriteOdom aft_mapped_to_init_high_frec
filter time 15.915767 ms 
drop lidar frame in mapping for real time performance 
sort q time 5.428849 
seperate points time 20.418369 
-----t: 0.0402282
OdomCount 4960 & avg odom time 0.044986 ms ++++++++++++++++++++++
build tree time 70.046959 ms 
--------------------stamp1317358277.426635026
prepare time 15.085494 
sort q time 5.318279 
seperate points time 12.246019 
-----t: 0.0454246
OdomCount 4961 & avg odom time 0.044986 ms ++++++++++++++++++++++
mapping solver time 20.462096 ms 
--------------------stamp1317358277.530529975
sort q time 6.203368 
seperate points time 13.566891 
publication time 8.394790 ms 
whole laserOdometry time 8.409722 ms 
 
build tree time 73.203459 ms 
-----t: 0.079623
OdomCount 4962 & avg odom time 0.044993 ms ++++++++++++++++++++++
prepare time 11.412068 
mapping data assosiation time 29.987633 ms 
sort q time 5.810130 
seperate points time 12.780285 
mapping solver time 31.523961 ms 
-----t: 0.0407579
OdomCount 4963 & avg odom time 0.044992 ms ++++++++++++++++++++++
mapping data assosiation time 29.096940 ms 
mapping solver time 19.844642 ms 
--------------------stamp1317358277.738347053
drop lidar frame in mapping for real time performance 
sort q time 6.002496 
seperate points time 13.539080 
publication time 10.305115 ms 
whole laserOdometry time 10.362883 ms 
 build tree time 55.073656 ms 
-----t: 0.0779546
OdomCount 4964 & avg odom time 0.044999 ms ++++++++++++++++++++++
--------------------stamp1317358277.842263936
prepare time 13.847529 
sort q time 5.709303 
seperate points time 13.112479 
publication time 9.463254 ms 
whole laserOdometry time 9.477857 ms 
 
mapping data assosiation time 31.014355 ms 
mapping solver time 20.541290 ms 
filter time 13.688828 ms 
map prepare time 5.424732 ms
map corner num 224284  surf num 79031 
sort q time 5.857486 
seperate points time 13.560343 
scan registration time 34.145747 ms *************
publication time 10.299304 ms 
whole laserOdometry time 10.311239 ms 
 
mapping data assosiation time 28.329300 ms 
--------------------stamp1317358278.050198078
prepare time 13.188537 
sort q time 5.964702 
seperate points time 13.228674 
publication time 9.522310 ms 
whole laserOdometry time 9.534924 ms 
 
mapping solver time 20.278638 ms 
mapping optimization time 169.797134 
add points time 1.464686 ms
filter time 19.352729 ms 
points size 101963 
sort q time 6.968151 
seperate points time 16.871566 
build tree time 55.411395 ms 
publication time 15.943560 ms 
whole laserOdometry time 15.956254 ms 
 
-----t: 0.0536123
OdomCount 4968 & avg odom time 0.045012 ms ++++++++++++++++++++++
--------------------stamp1317358278.258177995
prepare time 11.500666 
sort q time 5.865396 
seperate points time 12.794030 
mapping data assosiation time 31.922550 ms 
publication time 10.286861 ms 
whole laserOdometry time 10.301407 ms 
 
mapping solver time 28.214175 ms 
filter time 15.149521 ms 
--------------------stamp1317358278.362190961
prepare time 13.912054 
sort q time 6.127187 
seperate points time 13.190804 
publication time 10.209962 ms 
whole laserOdometry time 10.226822 ms 
 
--------------------stamp1317358278.466181039
scan registration time 25.271826 ms *************
publication time 11.899329 ms 
whole laserOdometry time 11.918708 ms 
 
mapping pub time 179.562147 ms 
whole mapping time 376.162515 ms +++++
mappingCount 3241 & avg mapping time 155.467136 ms ++++++++++++++++++++++
1317358277.946206093 WriteOdom aft_mapped_to_init
--------------------stamp1317358278.570147991
prepare time 13.136091 
sort q time 7.032661 
seperate points time 13.093723 
publication time 8.541406 ms 
whole laserOdometry time 8.558160 ms 
 
mapping data assosiation time 32.945979 ms 
mapping solver time 26.891058 ms 
--------------------stamp1317358278.674113988
sort q time 5.751016 
seperate points time 12.332237 
mapping optimization time 175.884068 
filter time 20.847815 ms 
--------------------stamp1317358278.778081893
build tree time 50.340985 ms 
sort q time 5.587815 
seperate points time 11.815369 
mapping data assosiation time 32.076126 ms 
-----t: 0.0445767
OdomCount 4974 & avg odom time 0.045020 ms ++++++++++++++++++++++
mapping data assosiation time 25.377880 ms 
points size 90166 
prepare time 9.927874 
filter time 17.623653 ms 
-----t: 0.0466739
OdomCount 4975 & avg odom time 0.045020 ms ++++++++++++++++++++++
build tree time 53.975249 ms 
points size 86649 
sort q time 4.831987 
seperate points time 11.581231 
publication time 6.107511 ms 
whole laserOdometry time 6.128875 ms 
 
1317358278.986017942 WriteOdom laser_odom_to_init
1317358278.986017942 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 31.807600 ms 
mapping data assosiation time 24.778917 ms 
--------------------stamp1317358279.089984893
sort q time 4.862202 
seperate points time 11.506768 
map prepare time 4.351806 ms
map corner num 229345  surf num 81368 1317358279.089984893 WriteOdom laser_odom_to_init
1317358279.089984893 WriteOdom aft_mapped_to_init_high_frec
build tree time 50.811306 ms 
--------------------stamp1317358279.193974971
prepare time 9.958592 
sort q time 5.365173 
seperate points time 12.265415 
mapping solver time 26.334003 ms 
-----t: 0.0443846
OdomCount 4978 & avg odom time 0.045016 ms ++++++++++++++++++++++
mapping data assosiation time 29.573540 ms 
mapping solver time 18.004392 ms 
--------------------stamp1317358279.297967910
drop lidar frame in mapping for real time performance 
points size 87997 
prepare time 9.122932 
map prepare time 3.572622 ms
map corner num 230233  surf num 81687 
publication time 7.954205 ms 
whole laserOdometry time 7.966709 ms 
 
build tree time 57.784983 ms 
mapping data assosiation time 27.154477 ms 
points size 86246 
sort q time 4.824376 
seperate points time 11.139337 
scan registration time 21.118030 ms *************
mapping solver time 32.299619 ms 
mapping data assosiation time 30.248250 ms 
mapping solver time 16.937070 ms 
filter time 14.574045 ms 
mapping pub time 5.868285 ms 
whole mapping time 191.383320 ms +++++
mappingCount 3246 & avg mapping time 155.522218 ms ++++++++++++++++++++++
1317358279.089984894 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 84516 
sort q time 4.888279 
seperate points time 11.284671 
points size 81669 
sort q time 4.453745 
seperate points time 10.538557 
publication time 7.685221 ms 
whole laserOdometry time 7.697784 ms 
 
-----t: 0.0430162
OdomCount 4982 & avg odom time 0.045014 ms ++++++++++++++++++++++
1317358279.609721899 WriteOdom laser_odom_to_init
1317358279.609721899 WriteOdom aft_mapped_to_init_high_frec
filter time 17.625866 ms 
--------------------stamp1317358279.713568925
sort q time 4.332606 
seperate points time 10.391000 
publication time 5.531052 ms 
whole laserOdometry time 5.545226 ms 
 
mapping data assosiation time 26.590147 ms 
mapping solver time 26.941423 ms 
--------------------stamp1317358279.817415952
sort q time 4.221284 
seperate points time 10.195140 
publication time 7.112624 ms 
whole laserOdometry time 7.139305 ms 
 
drop lidar frame in mapping for real time performance 
--------------------stamp1317358279.921262025
prepare time 8.690374 
sort q time 4.141065 
seperate points time 9.920242 
scan registration time 20.199153 ms *************
-----t: 0.0315446
OdomCount 4985 & avg odom time 0.045007 ms ++++++++++++++++++++++
mapping data assosiation time 20.768894 ms 
--------------------stamp1317358280.025110960
mapping solver time 22.278736 ms 
sort q time 4.026890 
seperate points time 8.155623 
publication time 7.446255 ms 
whole laserOdometry time 7.462298 ms 
 
-----t: 0.0432177
OdomCount 4986 & avg odom time 0.045007 ms ++++++++++++++++++++++
build tree time 52.964123 ms 
mapping data assosiation time 19.307734 ms 
points size 75547 
sort q time 4.219938 
seperate points time 9.976359 
publication time 5.372078 ms 
whole laserOdometry time 5.403524 ms 
 -----t: 0.0384007
OdomCount 4987 & avg odom time 0.045006 ms ++++++++++++++++++++++
mapping solver time 25.018279 ms 
filter time 14.999237 ms 
mapping pub time 1.735509 ms 
whole mapping time 173.645855 ms +++++
mappingCount 3250 & avg mapping time 155.551642 ms ++++++++++++++++++++++
1317358279.921262026 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 3.104861 ms
map corner num 234266  surf num 82763 
points size 77464 
sort q time 4.274035 
seperate points time 10.210935 
publication time 9.511213 ms 
1317358280.232826948 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 23.025482 ms 
--------------------stamp1317358280.336648941
sort q time 4.875743 
seperate points time 9.243508 
publication time 6.180419 ms 
whole laserOdometry time 6.190954 ms 
 
-----t: 0.034587
OdomCount 4989 & avg odom time 0.045004 ms ++++++++++++++++++++++
filter time 16.705817 ms 
map prepare time 3.192994 ms
map corner num 234833  surf num 82868 
--------------------stamp1317358280.440496921
sort q time 4.402973 
seperate points time 8.773733 
publication time 5.962586 ms 
whole laserOdometry time 5.993926 ms 
 
mapping data assosiation time 19.394850 ms 
mapping solver time 23.145774 ms 
--------------------stamp1317358280.544343948
mapping optimization time 150.521216 
publication time 15.976024 ms 
whole laserOdometry time 15.987775 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 40.530660 ms 
--------------------stamp1317358280.648164987
mapping data assosiation time 19.259712 ms 
mapping solver time 20.727824 ms 
1317358280.648164987 WriteOdom laser_odom_to_init
1317358280.648164987 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 21.883756 ms 
mapping solver time 19.498570 ms 
filter time 14.023829 ms 
--------------------stamp1317358280.751987934
sort q time 3.454478 
seperate points time 7.579003 
publication time 5.768632 ms 
whole laserOdometry time 5.796199 ms 
 
[0m[ INFO] [1718890363.703282133, 1317358280.798209174]: Received 317701 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890363.703324794, 1317358280.798209174]: Data saved to 1317358280025110.pcd[0m
mapping solver time 19.481957 ms 
mapping data assosiation time 17.875684 ms 
--------------------stamp1317358280.855838060
sort q time 3.359627 
seperate points time 8.017261 
mapping pub time 1.551732 ms 
whole mapping time 141.784140 ms +++++
mappingCount 3254 & avg mapping time 155.561101 ms ++++++++++++++++++++++
1317358280.648164988 WriteOdom aft_mapped_to_init
map prepare time 3.254069 ms
map corner num 195632  surf num 66640 
-----t: 0.0306356
OdomCount 4994 & avg odom time 0.044989 ms ++++++++++++++++++++++
build tree time 42.395287 ms 
mapping data assosiation time 17.011355 ms 
--------------------stamp1317358280.959685087
sort q time 3.439407 
seperate points time 7.078664 
mapping data assosiation time 20.606002 ms 
-----t: 0.0279689
OdomCount 4995 & avg odom time 0.044986 ms ++++++++++++++++++++++
filter time 14.197469 ms 
--------------------stamp1317358281.063504934
sort q time 3.269191 
seperate points time 7.024502 
mapping data assosiation time 21.055672 ms 
publication time 7.252024 ms 
whole laserOdometry time 7.266949 ms 
 
mapping data assosiation time 16.916874 ms 
mapping solver time 13.508261 ms 
mapping pub time 4.629832 ms 
whole mapping time 139.002737 ms +++++
mappingCount 3256 & avg mapping time 155.550962 ms ++++++++++++++++++++++
prepare time 7.690308 
scan registration time 19.877804 ms *************
publication time 5.897799 ms 
whole laserOdometry time 5.916575 ms 
 
build tree time 53.647727 ms 
mapping data assosiation time 17.436232 ms 
mapping solver time 18.642282 ms 
points size 66265 
mapping solver time 13.817866 ms 
filter time 15.372548 ms 
build tree time 43.419635 ms 
--------------------stamp1317358281.375045061
sort q time 3.706717 
seperate points time 9.032996 
mapping data assosiation time 20.408248 ms 
mapping solver time 12.549397 ms 
mapping optimization time 113.171124 
add points time 0.851379 ms
map prepare time 2.779270 ms
map corner num 197710  surf num 67222 
points size 70738 
scan registration time 20.258236 ms *************
publication time 7.609084 ms 
whole laserOdometry time 7.625464 ms 
 
-----t: 0.0313184
OdomCount 5000 & avg odom time 0.044974 ms ++++++++++++++++++++++
mapping data assosiation time 16.482079 ms 
mapping solver time 16.396449 ms 
filter time 12.925075 ms 
prepare time 9.141702 
sort q time 3.853322 
seperate points time 19.496850 
publication time 9.854330 ms 
whole laserOdometry time 9.868109 ms 
 
-----t: 0.0441018
OdomCount 5001 & avg odom time 0.044974 ms ++++++++++++++++++++++
build tree time 67.680580 ms 
mapping data assosiation time 17.355118 ms 
--------------------stamp1317358281.686657905
sort q time 3.946555 
seperate points time 9.425618 
publication time 6.032434 ms 
whole laserOdometry time 6.043457 ms 
 
-----t: 0.0299131
OdomCount 5002 & avg odom time 0.044971 ms ++++++++++++++++++++++
1317358281.686657905 WriteOdom laser_odom_to_init
1317358281.686657905 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 19.132113 ms 
mapping optimization time 142.564426 
add points time 0.872749 ms
mapping pub time 1.574545 ms 
whole mapping time 161.449988 ms +++++
mappingCount 3260 & avg mapping time 155.536270 ms ++++++++++++++++++++++
[0m[ INFO] [1718890364.657794651, 1317358281.760539068]: Received 263395 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890364.657822986, 1317358281.760539068]: Data saved to 1317358280855838.pcd[0m
--------------------stamp1317358281.790529012
sort q time 3.456147 
seperate points time 7.625905 
publication time 6.265203 ms 
whole laserOdometry time 6.278652 ms 
 
mapping solver time 24.143437 ms 
mapping data assosiation time 16.574644 ms 
mapping solver time 17.098277 ms 
filter time 12.320430 ms 
points size 66094 
sort q time 3.659192 
seperate points time 8.929366 
publication time 4.838339 ms 
whole laserOdometry time 4.850053 ms 
 
-----t: 0.0348018
OdomCount 5004 & avg odom time 0.044965 ms ++++++++++++++++++++++
--------------------stamp1317358281.998267889
sort q time 3.786568 
seperate points time 7.767808 
-----t: 0.0329708
OdomCount 5005 & avg odom time 0.044963 ms ++++++++++++++++++++++
mapping pub time 178.803052 ms 
whole mapping time 318.141600 ms +++++
mappingCount 3261 & avg mapping time 155.586135 ms ++++++++++++++++++++++
1317358281.582787991 WriteOdom aft_mapped_to_init
--------------------stamp1317358282.102140903
sort q time 3.521381 
seperate points time 7.398044 
mapping data assosiation time 20.198119 ms 
-----t: 0.0391301
OdomCount 5006 & avg odom time 0.044962 ms ++++++++++++++++++++++
mapping data assosiation time 17.872970 ms 
mapping solver time 17.607397 ms 
points size 66210 
publication time 6.219321 ms 
whole laserOdometry time 6.247710 ms 
 
-----t: 0.0292068
OdomCount 5007 & avg odom time 0.044958 ms ++++++++++++++++++++++
1317358282.206037044 WriteOdom laser_odom_to_init
1317358282.206037044 WriteOdom aft_mapped_to_init_high_frec
build tree time 50.992485 ms 
mapping data assosiation time 19.487216 ms 
--------------------stamp1317358282.309931039
sort q time 4.098077 
seperate points time 7.873409 
mapping data assosiation time 20.559816 ms 
-----t: 0.0321709
OdomCount 5008 & avg odom time 0.044956 ms ++++++++++++++++++++++
filter time 12.298289 ms 
--------------------stamp1317358282.413800954
build tree time 47.582889 ms 
publication time 9.612137 ms 
whole laserOdometry time 9.625739 ms 
 
-----t: 0.0395604
OdomCount 5009 & avg odom time 0.044955 ms ++++++++++++++++++++++
mapping data assosiation time 17.529250 ms 
mapping solver time 12.675292 ms 
--------------------stamp1317358282.517672061
sort q time 3.634788 
seperate points time 7.532954 
publication time 6.964175 ms 
whole laserOdometry time 6.976910 ms 
 
[0m[ INFO] [1718890365.467446595, 1317358282.564396980]: Received 267275 data points in frame camera_init with the following fields: x y z intensity[0m
[0m[ INFO] [1718890365.467495607, 1317358282.564396980]: Data saved to 1317358281582787.pcd[0m
build tree time 49.854882 ms 
mapping data assosiation time 16.650497 ms 
mapping solver time 19.690932 ms 
points size 70688 
prepare time 8.873297 
mapping data assosiation time 17.843518 ms 
mapping optimization time 123.538141 
add points time 0.852656 ms
publication time 7.321434 ms 
whole laserOdometry time 7.333981 ms 
 
map prepare time 2.687009 ms
map corner num 202067  surf num 68485 
build tree time 45.516761 ms 
points size 73931 
sort q time 4.193781 
seperate points time 8.841660 
mapping solver time 24.434646 ms 
publication time 6.343249 ms 
whole laserOdometry time 6.357856 ms 
 
mapping data assosiation time 19.009878 ms 
mapping solver time 16.015902 ms 
filter time 12.224555 ms 
--------------------stamp1317358282.829282999
prepare time 14.813661 
scan registration time 26.934948 ms *************
build tree time 53.165146 ms mapping data assosiation time 19.779357 ms 
mapping solver time 15.867939 ms 
mapping data assosiation time 18.562584 ms 
points size 77703 
sort q time 4.397457 
seperate points time 10.596386 
map prepare time 2.715810 ms
map corner num 203332  surf num 68838 
publication time 9.277242 ms 
whole laserOdometry time 9.288430 ms 
 
build tree time 48.225808 ms 
mapping data assosiation time 18.924735 ms 
publication time 9.346808 ms 
whole laserOdometry time 9.360787 ms 
 
mapping data assosiation time 20.668910 ms 
-----t: 0.0423529
OdomCount 5015 & avg odom time 0.044941 ms ++++++++++++++++++++++
filter time 12.679860 ms 
--------------------stamp1317358283.140945911
sort q time 4.128436 
seperate points time 9.929166 
publication time 9.388441 ms -----t: 0.0551652
OdomCount 5016 & avg odom time 0.044943 ms ++++++++++++++++++++++
mapping data assosiation time 19.179176 ms 
--------------------stamp1317358283.244839906
sort q time 4.527046 
seperate points time 9.345304 
map prepare time 3.742402 ms
map corner num 204411  surf num 69119 
publication time 11.955082 ms 
whole laserOdometry time 11.966809 ms 
 
build tree time 46.445384 ms 
mapping data assosiation time 17.245287 ms 
points size 76508 
sort q time 4.480246 
seperate points time 10.131323 
mapping solver time 26.585746 ms 
publication time 8.398106 ms 
whole laserOdometry time 8.414084 ms 
 
-----t: 0.0343039
OdomCount 5018 & avg odom time 0.044938 ms ++++++++++++++++++++++
add points time 0.826638 ms
filter time 12.447399 ms 
--------------------stamp1317358283.452652931
sort q time 4.077075 
seperate points time 9.868525 
publication time 6.596346 ms 
whole laserOdometry time 6.610331 ms 
 
-----t: 0.0315644
OdomCount 5019 & avg odom time 0.044936 ms ++++++++++++++++++++++
mapping solver time 17.831455 ms 
mapping data assosiation time 16.940369 ms 
mapping solver time 13.510217 ms 
--------------------stamp1317358283.556545972
map prepare time 3.009578 ms
map corner num 205556  surf num 69454 
publication time 7.254294 ms 
whole laserOdometry time 7.266949 ms 
 
-----t: 0.0303761
OdomCount 5020 & avg odom time 0.044933 ms ++++++++++++++++++++++
1317358283.556545972 WriteOdom laser_odom_to_init
1317358283.556545972 WriteOdom aft_mapped_to_init_high_frec
build tree time 53.153016 ms 
mapping data assosiation time 17.526161 ms 
--------------------stamp1317358283.660464048
sort q time 4.129497 
seperate points time 9.861638 
publication time 6.761223 ms 
whole laserOdometry time 6.774916 ms 
 
mapping solver time 20.903738 ms 
mapping optimization time 136.681842 
add points time 0.839235 ms
-----t: 0.0340299
OdomCount 5021 & avg odom time 0.044931 ms ++++++++++++++++++++++
1317358283.660464048 WriteOdom laser_odom_to_init
1317358283.660464048 WriteOdom aft_mapped_to_init_high_frec
drop lidar frame in mapping for real time performance 
--------------------stamp1317358283.764384031
sort q time 4.008678 
seperate points time 9.730141 
mapping data assosiation time 20.629434 ms 
-----t: 0.0348774
OdomCount 5022 & avg odom time 0.044929 ms ++++++++++++++++++++++
mapping solver time 25.353277 ms 
mapping data assosiation time 17.392177 ms 
mapping solver time 16.935165 ms 
points size 72413 
sort q time 4.115729 
seperate points time 9.372281 
publication time 7.263398 ms 
whole laserOdometry time 7.280682 ms 
 
-----t: 0.0497563
OdomCount 5023 & avg odom time 0.044930 ms ++++++++++++++++++++++
mapping data assosiation time 16.442836 ms 
--------------------stamp1317358283.972173929
sort q time 4.627581 
seperate points time 11.048414 
scan registration time 23.620854 ms *************
1317358283.972173929 WriteOdom aft_mapped_to_init_high_frec
filter time 13.733380 ms 
--------------------stamp1317358284.076069116
sort q time 4.459472 
seperate points time 8.771970 
publication time 6.714273 ms 
whole laserOdometry time 6.726924 ms 
 
-----t: 0.0313843
OdomCount 5025 & avg odom time 0.044923 ms ++++++++++++++++++++++
mapping data assosiation time 17.992060 ms 
mapping solver time 18.502574 ms 
filter time 13.076996 ms 
points size 71531 
sort q time 3.935047 
seperate points time 9.573996 
build tree time 40.468826 ms 
[0m[ INFO] [1718890367.140098646, 1317358284.238519197]: Received 275010 data points in frame camera_init with the following fields: x y z intensity[0m
mapping solver time 19.691144 ms 
mapping data assosiation time 16.630975 ms 
prepare time 8.775350 
mapping solver time 21.328570 ms 
filter time 11.822966 ms 
-----t: 0.038707
OdomCount 5027 & avg odom time 0.044922 ms ++++++++++++++++++++++
build tree time 36.102989 ms 
mapping data assosiation time 18.186080 ms 
points size 72248 
sort q time 7.515724 
seperate points time 11.671543 
publication time 6.222808 ms 
whole laserOdometry time 6.236709 ms mapping solver time 16.593148 ms 
filter time 11.473290 ms 
--------------------stamp1317358284.491624116
sort q time 4.062200 
seperate points time 8.445250 
scan registration time 18.234623 ms *************
mapping data assosiation time 19.901753 ms 
mapping solver time 20.110870 ms 
1317358284.491624116 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 18.016231 ms 
mapping solver time 12.142734 ms 
filter time 9.373613 ms 
--------------------stamp1317358284.595566034
sort q time 3.388641 
seperate points time 7.857678 
publication time 6.334070 ms 
whole laserOdometry time 6.347259 ms 
 
mapping data assosiation time 19.177531 ms 
mapping solver time 21.914799 ms 
mapping data assosiation time 15.519873 ms 
mapping solver time 16.102396 ms 
filter time 11.092798 ms 
publication time 5.685336 ms 
whole laserOdometry time 5.699913 ms 
 
-----t: 0.0372091
OdomCount 5031 & avg odom time 0.044914 ms ++++++++++++++++++++++
mapping data assosiation time 16.429416 ms 
mapping solver time 17.926299 ms 
--------------------stamp1317358284.803430080
prepare time 9.073619 
scan registration time 19.500217 ms *************
filter time 13.729215 ms 
-----t: 0.0324333
OdomCount 5032 & avg odom time 0.044912 ms ++++++++++++++++++++++
build tree time 35.282628 ms 
mapping data assosiation time 16.344078 ms 
--------------------stamp1317358284.907372951
sort q time 4.060763 
seperate points time 8.035499 
publication time 5.198438 ms 
whole laserOdometry time 5.212207 ms 
 
-----t: 0.0340026
OdomCount 5033 & avg odom time 0.044910 ms ++++++++++++++++++++++
--------------------stamp1317358285.011338949
publication time 6.048419 ms 
whole laserOdometry time 6.063838 ms 
 
--------------------stamp1317358285.115304946
[0m[ INFO] [1718890368.029536384, 1317358285.127809972]: Received 208962 data points in frame camera_init with the following fields: x y z intensity[0m
publication time 5.687376 ms 
whole laserOdometry time 5.699441 ms 
 
-----t: 0.0317218
OdomCount 5035 & avg odom time 0.044904 ms ++++++++++++++++++++++
build tree time 37.052895 ms 
mapping data assosiation time 16.842680 ms 
mapping solver time 17.161271 ms 
points size 70735 
publication time 5.929528 ms 
whole laserOdometry time 5.944125 ms 
 
filter time 11.059139 ms 
-----t: 0.0410769
OdomCount 5036 & avg odom time 0.044903 ms ++++++++++++++++++++++
build tree time 38.130124 ms 
--------------------stamp1317358285.323191881
sort q time 3.728928 
seperate points time 8.935162 
publication time 6.555967 ms 
whole laserOdometry time 6.566701 ms 
 
-----t: 0.0340228
OdomCount 5037 & avg odom time 0.044901 ms ++++++++++++++++++++++
filter time 10.558955 ms 
--------------------stamp1317358285.427134037
sort q time 3.965421 
seperate points time 8.616835 
publication time 7.472287 ms 
whole laserOdometry time 7.500141 ms 
 
-----t: 0.0373169
OdomCount 5038 & avg odom time 0.044899 ms ++++++++++++++++++++++
mapping solver time 14.923790 ms 
mapping pub time 1.647141 ms 
whole mapping time 127.459232 ms +++++
mappingCount 3284 & avg mapping time 155.533684 ms ++++++++++++++++++++++
--------------------stamp1317358285.531053066
sort q time 3.845053 
seperate points time 9.200323 
scan registration time 20.296169 ms *************
mapping data assosiation time 18.166242 ms 
mapping solver time 19.428698 ms 
mapping data assosiation time 17.294555 ms 
mapping solver time 12.179175 ms 
prepare time 8.348765 
sort q time 3.832960 
seperate points time 9.447779 
scan registration time 20.675810 ms *************
map prepare time 3.787732 ms
map corner num 158094  surf num 54432 
1317358285.634994983 WriteOdom laser_odom_to_init
1317358285.634994983 WriteOdom aft_mapped_to_init_high_frec
publication time 5.484241 ms 
whole laserOdometry time 5.496294 ms 
 
mapping data assosiation time 16.435381 ms 
mapping solver time 19.752063 ms 
points size 66029 
scan registration time 19.552275 ms *************
publication time 6.234435 ms 
whole laserOdometry time 6.249489 ms 
 
mapping pub time 4.832890 ms 
whole mapping time 131.456776 ms +++++
mappingCount 3286 & avg mapping time 155.518386 ms ++++++++++++++++++++++
build tree time 34.162351 ms 
mapping data assosiation time 17.755893 ms 
sort q time 3.278314 
seperate points time 8.167693 
-----t: 0.0229924
OdomCount 5042 & avg odom time 0.044886 ms ++++++++++++++++++++++
mapping solver time 12.466284 ms 
filter time 10.296728 ms 
--------------------stamp1317358285.946774959
sort q time 2.906254 
seperate points time 6.821544 
mapping data assosiation time 20.718689 ms 
publication time 6.782131 ms 
whole laserOdometry time 6.796072 ms 
 
-----t: 0.0248963
OdomCount 5043 & avg odom time 0.044882 ms ++++++++++++++++++++++
mapping solver time 24.759690 ms 
mapping data assosiation time 17.577156 ms 
mapping solver time 15.135731 ms 
mapping optimization time 113.403400 
add points time 0.799951 ms
--------------------stamp1317358286.050693035
sort q time 3.302593 
seperate points time 7.529325 
publication time 5.702108 ms 
whole laserOdometry time 5.714151 ms 
 
-----t: 0.029674
OdomCount 5044 & avg odom time 0.044879 ms ++++++++++++++++++++++
mapping solver time 18.014059 ms 
mapping data assosiation time 18.148731 ms 
--------------------stamp1317358286.154611110
filter time 10.291596 ms 
publication time 6.354684 ms 
whole laserOdometry time 6.367099 ms 
 
-----t: 0.0424296
OdomCount 5045 & avg odom time 0.044879 ms ++++++++++++++++++++++
mapping data assosiation time 17.578731 ms 
mapping solver time 20.392535 ms 
points size 66692 
publication time 5.960704 ms 
whole laserOdometry time 5.973248 ms 
 
filter time 10.578152 ms 
-----t: 0.0536614
OdomCount 5046 & avg odom time 0.044880 ms ++++++++++++++++++++++
build tree time 35.070934 ms 
--------------------stamp1317358286.362402915
sort q time 3.818427 
seperate points time 8.786964 
publication time 9.062271 ms 
whole laserOdometry time 9.076811 ms 
 
mapping data assosiation time 21.041575 ms 
mapping solver time 20.252165 ms 
filter time 12.159184 ms 
--------------------stamp1317358286.466346025
sort q time 3.856904 
seperate points time 9.728393 
build tree time 42.986613 ms 
publication time 8.019302 ms 
whole laserOdometry time 8.030533 ms 
 
mapping data assosiation time 21.506972 ms 
mapping solver time 21.681564 ms 
mapping data assosiation time 18.825712 ms 
--------------------stamp1317358286.570264101
mapping solver time 22.249931 ms 
filter time 12.591418 ms 
-----t: 0.0317662
OdomCount 5049 & avg odom time 0.044874 ms ++++++++++++++++++++++
build tree time 38.009394 ms 
mapping data assosiation time 20.166299 ms 
--------------------stamp1317358286.674160003
mapping solver time 26.616790 ms 
publication time 8.646658 ms 
whole laserOdometry time 8.680004 ms 
 
-----t: 0.037664
OdomCount 5050 & avg odom time 0.044872 ms ++++++++++++++++++++++
filter time 9.665415 ms 
--------------------stamp1317358286.778100967
sort q time 4.106789 
seperate points time 9.084526 
mapping data assosiation time 20.278041 ms 
publication time 7.385133 ms 
whole laserOdometry time 7.396446 ms 
 
mapping data assosiation time 18.356828 ms 
mapping solver time 20.192804 ms 
--------------------stamp1317358286.882041931
sort q time 3.910733 
seperate points time 9.450724 
publication time 7.793857 ms 
whole laserOdometry time 7.809877 ms 
 
mapping data assosiation time 21.683363 ms 
mapping solver time 21.259914 ms 
--------------------stamp1317358286.985985040
points size 78780 
scan registration time 23.145204 ms *************
mapping solver time 24.779480 ms 
filter time 11.180479 ms 
build tree time 35.414679 ms 
--------------------stamp1317358287.089951992
mapping data assosiation time 24.152053 ms 
publication time 6.235802 ms 
whole laserOdometry time 6.250188 ms 
 
-----t: 0.0302469
OdomCount 5054 & avg odom time 0.044862 ms ++++++++++++++++++++++
mapping data assosiation time 22.327442 ms 
mapping solver time 15.255989 ms 
filter time 10.641072 ms 
--------------------stamp1317358287.193896055
sort q time 4.124856 
seperate points time 10.034515 
publication time 8.855321 ms 1317358287.193896055 WriteOdom laser_odom_to_init
1317358287.193896055 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 25.206636 ms 
mapping solver time 21.378561 ms 
--------------------stamp1317358287.297863006
sort q time 4.336488 
seperate points time 8.789156 
publication time 6.543234 ms 
whole laserOdometry time 6.557850 ms 
 
filter time 14.076615 ms 
-----t: 0.0504072
OdomCount 5056 & avg odom time 0.044860 ms ++++++++++++++++++++++
build tree time 38.233154 ms 
--------------------stamp1317358287.401851892
mapping data assosiation time 24.340577 ms 
publication time 9.449093 ms 
whole laserOdometry time 9.475490 ms 
 
-----t: 0.0381032
OdomCount 5057 & avg odom time 0.044859 ms ++++++++++++++++++++++
mapping data assosiation time 24.491455 ms 
mapping solver time 16.306514 ms 
filter time 12.340833 ms 
points size 76067 
scan registration time 18.757599 ms *************
-----t: 0.0319101
OdomCount 5058 & avg odom time 0.044856 ms ++++++++++++++++++++++
mapping data assosiation time 26.936883 ms 
--------------------stamp1317358287.609930992
sort q time 3.843352 
seperate points time 9.273858 
mapping data assosiation time 27.535229 ms 
-----t: 0.0356051
OdomCount 5059 & avg odom time 0.044855 ms ++++++++++++++++++++++
mapping solver time 27.663454 ms 
mapping optimization time 164.327994 
add points time 0.940701 ms
filter time 15.646494 ms 
--------------------stamp1317358287.713993072
sort q time 4.864898 
seperate points time 9.928914 
build tree time 47.311989 ms 
-----t: 0.0327417
OdomCount 5060 & avg odom time 0.044852 ms ++++++++++++++++++++++
mapping solver time 27.155564 ms 
--------------------stamp1317358287.818080902
sort q time 4.634079 
seperate points time 10.730699 
publication time 7.734096 ms 
whole laserOdometry time 7.750857 ms 
 
drop lidar frame in mapping for real time performance 
build tree time 47.683486 ms 
prepare time 7.420702 
sort q time 5.237265 
seperate points time 11.020477 
publication time 7.540188 ms 
whole laserOdometry time 7.553415 ms 
 
-----t: 0.0377385
OdomCount 5062 & avg odom time 0.044851 ms ++++++++++++++++++++++
mapping data assosiation time 21.029031 ms 
mapping solver time 22.559806 ms 
points size 83704 
sort q time 5.545466 
seperate points time 12.529215 
publication time 8.264701 ms 
whole laserOdometry time 8.279527 ms 
 
--------------------stamp1317358288.130342006
sort q time 6.274865 
seperate points time 11.479482 
publication time 7.897656 ms 
whole laserOdometry time 7.912068 ms 
 
-----t: 0.0330817
OdomCount 5064 & avg odom time 0.044846 ms ++++++++++++++++++++++
1317358288.130342006 WriteOdom laser_odom_to_init
1317358288.130342006 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358288.234405040
map prepare time 4.205548 ms
map corner num 135887  surf num 49295 
publication time 8.510397 ms 
whole laserOdometry time 8.521886 ms 
 
-----t: 0.038542
OdomCount 5065 & avg odom time 0.044844 ms ++++++++++++++++++++++
mapping data assosiation time 28.787257 ms 
--------------------stamp1317358288.338466882
mapping solver time 35.360866 ms 
scan registration time 21.251381 ms *************
mapping data assosiation time 29.025584 ms 
-----t: 0.0456262
OdomCount 5066 & avg odom time 0.044845 ms ++++++++++++++++++++++
mapping solver time 28.250388 ms 
mapping optimization time 162.450759 
add points time 1.086418 ms
filter time 13.119382 ms 
--------------------stamp1317358288.442504882
build tree time 35.939895 ms 
sort q time 5.181925 
seperate points time 12.270503 
scan registration time 26.537551 ms *************
mapping data assosiation time 32.643964 ms 
mapping solver time 23.954140 ms 
--------------------stamp1317358288.546518087
sort q time 5.158899 
seperate points time 10.873162 
mapping solver time 25.308711 ms 
filter time 12.645382 ms 
build tree time 28.831172 ms 
--------------------stamp1317358288.650507926
sort q time 5.288403 
seperate points time 12.084068 
publication time 8.163036 ms 
whole laserOdometry time 8.177296 ms 
 
mapping solver time 16.219262 ms 
filter time 9.196442 ms 
--------------------stamp1317358288.754476070
points size 97001 
prepare time 10.942420 
sort q time 5.497547 
seperate points time 12.318922 
publication time 11.945419 ms 
whole laserOdometry time 11.961203 ms 
 
mapping solver time 22.600799 ms 
mapping data assosiation time 22.169043 ms 
--------------------stamp1317358288.858418941
prepare time 13.023538 
mapping pub time 2.247096 ms 
whole mapping time 143.652029 ms +++++
mappingCount 3305 & avg mapping time 155.549092 ms ++++++++++++++++++++++
1317358288.650507927 WriteOdom aft_mapped_to_init
sort q time 5.232437 
seperate points time 12.062493 
publication time 9.152683 ms 
whole laserOdometry time 9.165988 ms 
 
build tree time 35.175474 ms 
mapping data assosiation time 23.231170 ms 
--------------------stamp1317358288.962312936
sort q time 5.510531 
seperate points time 12.128324 
mapping data assosiation time 26.769613 ms 
-----t: 0.0354496
OdomCount 5072 & avg odom time 0.044840 ms ++++++++++++++++++++++
mapping solver time 20.680512 ms 
filter time 11.325583 ms 
--------------------stamp1317358289.066205978
build tree time 34.463235 ms 
scan registration time 28.538054 ms *************
publication time 7.375878 ms 
whole laserOdometry time 7.394316 ms 
 
-----t: 0.045348
OdomCount 5073 & avg odom time 0.044840 ms ++++++++++++++++++++++
mapping data assosiation time 24.055812 ms 
--------------------stamp1317358289.170125961
filter time 10.272818 ms 
publication time 9.722597 ms 
whole laserOdometry time 9.738495 ms 
 
--------------------stamp1317358289.274023056
sort q time 5.970259 
seperate points time 12.625044 
mapping solver time 14.293507 ms 
mapping pub time 2.164724 ms 
whole mapping time 145.968016 ms +++++
mappingCount 3308 & avg mapping time 155.544122 ms ++++++++++++++++++++++
build tree time 29.160941 ms 
prepare time 11.312112 
publication time 11.911271 ms 
whole laserOdometry time 11.919879 ms 
 
-----t: 0.050539
OdomCount 5076 & avg odom time 0.044840 ms ++++++++++++++++++++++
mapping data assosiation time 31.628157 ms 
points size 99542 
filter time 9.492059 ms 
mapping pub time 2.379808 ms 
whole mapping time 162.798315 ms +++++
mappingCount 3309 & avg mapping time 155.546316 ms ++++++++++++++++++++++
1317358289.170125961 WriteOdom aft_mapped_to_init
sort q time 5.766242 
seperate points time 12.491060 
-----t: 0.0390408
OdomCount 5077 & avg odom time 0.044839 ms ++++++++++++++++++++++
build tree time 41.215523 ms 
mapping data assosiation time 24.116983 ms 
points size 99664 
mapping solver time 31.365045 ms 
-----t: 0.0393159
OdomCount 5078 & avg odom time 0.044838 ms ++++++++++++++++++++++
1317358289.585777044 WriteOdom laser_odom_to_init
1317358289.585777044 WriteOdom aft_mapped_to_init_high_frec
publication time 21.162214 ms 
whole laserOdometry time 21.174749 ms 
 
mapping data assosiation time 34.747864 ms 
mapping solver time 23.505428 ms 
filter time 11.156862 ms 
points size 99628 
sort q time 5.531657 
seperate points time 12.793277 
publication time 12.159464 ms 
whole laserOdometry time 12.270413 ms 
 
-----t: 0.0341238
OdomCount 5079 & avg odom time 0.044836 ms ++++++++++++++++++++++
1317358289.689718961 WriteOdom laser_odom_to_init
1317358289.689718961 WriteOdom aft_mapped_to_init_high_frec
mapping data assosiation time 30.006658 ms 
mapping solver time 23.406498 ms 
--------------------stamp1317358289.793663024
prepare time 10.726575 
sort q time 5.386361 
seperate points time 12.357021 
mapping solver time 22.260286 ms 
mapping optimization time 141.425185 
add points time 0.993262 ms
publication time 9.665526 ms 
whole laserOdometry time 9.682264 ms 
 
map prepare time 3.013166 ms
map corner num 142978  surf num 53752 
build tree time 32.116391 ms 
--------------------stamp1317358289.897629022
prepare time 11.201728 
sort q time 5.678700 
seperate points time 12.254548 
publication time 9.371146 ms 
whole laserOdometry time 9.386165 ms 
 
-----t: 0.0414089
OdomCount 5081 & avg odom time 0.044833 ms ++++++++++++++++++++++
mapping data assosiation time 27.309817 ms 
mapping solver time 18.391118 ms 
filter time 10.495362 ms 
sort q time 5.760080 
seperate points time 13.203597 
build tree time 37.060631 ms 
mapping data assosiation time 27.702010 ms 
--------------------stamp1317358290.105591058
points size 100122 
sort q time 5.876790 
seperate points time 13.338397 
-----t: 0.0358603
OdomCount 5083 & avg odom time 0.044831 ms ++++++++++++++++++++++
mapping solver time 30.352777 ms 
mapping optimization time 156.013561 
add points time 1.011317 ms
map prepare time 3.306545 ms
map corner num 144588  surf num 54793 
--------------------stamp1317358290.209606885
build tree time 38.684692 ms 
sort q time 19.237761 
seperate points time 26.758803 
-----t: 0.0435618
OdomCount 5084 & avg odom time 0.044830 ms ++++++++++++++++++++++
mapping solver time 26.035959 ms 
--------------------stamp1317358290.313617944
prepare time 13.121118 
mapping solver time 21.637603 ms 
filter time 11.307256 ms 
publication time 8.326958 ms 
whole laserOdometry time 8.345350 ms 
 
-----t: 0.0493546
OdomCount 5085 & avg odom time 0.044831 ms ++++++++++++++++++++++
1317358290.313617944 WriteOdom laser_odom_to_init
1317358290.313617944 WriteOdom aft_mapped_to_init_high_frec
build tree time 37.359523 ms 
--------------------stamp1317358290.417632102
prepare time 11.356826 
mapping data assosiation time 31.713025 ms 
mapping solver time 32.936472 ms 
-----t: 0.0524965
OdomCount 5086 & avg odom time 0.044833 ms ++++++++++++++++++++++
mapping data assosiation time 33.178671 ms 
mapping solver time 20.627102 ms 
points size 100592 
map prepare time 3.874100 ms
map corner num 146084  surf num 55714 
publication time 8.481243 ms 
whole laserOdometry time 8.489991 ms 
 
build tree time 39.205630 ms 
mapping data assosiation time 26.106758 ms 
--------------------stamp1317358290.625734090
prepare time 11.336549 
sort q time 5.786298 
seperate points time 13.013622 
-----t: 0.03475
OdomCount 5088 & avg odom time 0.044830 ms ++++++++++++++++++++++
mapping solver time 22.468406 ms 
filter time 11.483853 ms 
map prepare time 4.115187 ms
map corner num 146796  surf num 56031 
prepare time 11.395503 
scan registration time 30.065731 ms *************
-----t: 0.0357958
OdomCount 5089 & avg odom time 0.044828 ms ++++++++++++++++++++++
mapping data assosiation time 36.108936 ms 
--------------------stamp1317358290.833884000
prepare time 11.215752 
sort q time 6.164574 
seperate points time 13.927663 
mapping data assosiation time 36.710746 ms 
-----t: 0.0479539
OdomCount 5090 & avg odom time 0.044829 ms ++++++++++++++++++++++
filter time 14.881156 ms 
mapping pub time 2.477428 ms 
whole mapping time 204.328572 ms +++++
mappingCount 3317 & avg mapping time 155.591618 ms ++++++++++++++++++++++
1317358290.521670103 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
points size 101395 
sort q time 6.378169 
seperate points time 11.930286 
publication time 11.824194 ms 
whole laserOdometry time 11.840348 ms 
 
mapping data assosiation time 34.470657 ms 
--------------------stamp1317358291.042104005
sort q time 5.858593 
seperate points time 12.947421 
mapping data assosiation time 35.406639 ms 
publication time 10.406816 ms 
whole laserOdometry time 10.424570 ms 
 
mapping solver time 24.152251 ms 
filter time 9.526526 ms 
--------------------stamp1317358291.146239995
build tree time 38.061174 ms 
sort q time 5.857174 
seperate points time 13.135688 
publication time 11.668451 ms 
mapping solver time 36.294156 ms 
--------------------stamp1317358291.250421047
mapping data assosiation time 32.949695 ms 
publication time 8.089429 ms 
whole laserOdometry time 8.101482 ms 
 
mapping solver time 35.709897 ms 
filter time 10.087042 ms 
--------------------stamp1317358291.354626893
prepare time 14.982349 
sort q time 6.941936 
seperate points time 15.717504 
mapping data assosiation time 38.854974 ms 
-----t: 0.0461814
OdomCount 5095 & avg odom time 0.044827 ms ++++++++++++++++++++++
mapping solver time 42.431430 ms 
points size 102503 
mapping data assosiation time 34.970596 ms 
publication time 8.654100 ms 
whole laserOdometry time 8.670414 ms 
 
mapping solver time 37.376651 ms 
filter time 12.063575 ms 
--------------------stamp1317358291.562947988
build tree time 36.225941 ms 
scan registration time 29.969796 ms *************
publication time 11.777339 ms 
whole laserOdometry time 11.797512 ms 
 
mapping solver time 38.058913 ms 
--------------------stamp1317358291.667033910
mapping data assosiation time 33.377741 ms 
publication time 8.840503 ms 
whole laserOdometry time 8.857180 ms 
 
mapping solver time 38.762406 ms 
mapping optimization time 189.235468 
add points time 0.788349 ms
-----t: 0.0504506
OdomCount 5098 & avg odom time 0.044832 ms ++++++++++++++++++++++
1317358291.667033910 WriteOdom laser_odom_to_init
1317358291.667033910 WriteOdom aft_mapped_to_init_high_frec
--------------------stamp1317358291.771073102
prepare time 14.406574 
sort q time 5.979713 
seperate points time 13.256843 
publication time 9.985448 ms 
whole laserOdometry time 10.006149 ms 
 
-----t: 0.0606638
OdomCount 5099 & avg odom time 0.044835 ms ++++++++++++++++++++++
--------------------stamp1317358291.875065088
sort q time 6.157245 
seperate points time 13.811496 
mapping pub time 182.666210 ms 
whole mapping time 387.089734 ms +++++
mappingCount 3321 & avg mapping time 155.703053 ms ++++++++++++++++++++++
-----t: 0.0597403
OdomCount 5100 & avg odom time 0.044838 ms ++++++++++++++++++++++
1317358291.875065088 WriteOdom laser_odom_to_init
1317358291.875065088 WriteOdom aft_mapped_to_init_high_frec
build tree time 38.917578 ms 
points size 102524 
sort q time 5.594975 
seperate points time 13.007852 
publication time 10.043910 ms 
whole laserOdometry time 10.058065 ms 
 
-----t: 0.057589
OdomCount 5101 & avg odom time 0.044841 ms ++++++++++++++++++++++
--------------------stamp1317358292.082878112
sort q time 6.896300 
seperate points time 12.522236 
publication time 8.741905 ms 
whole laserOdometry time 8.754216 ms 
 
drop lidar frame in mapping for real time performance 
drop lidar frame in mapping for real time performance 
-----t: 0.0564161
OdomCount 5102 & avg odom time 0.044843 ms ++++++++++++++++++++++
build tree time 35.675384 ms 
prepare time 11.428092 
sort q time 5.632172 
seperate points time 12.921523 
publication time 9.286824 ms 
whole laserOdometry time 9.298053 ms 
 
-----t: 0.0551861
OdomCount 5103 & avg odom time 0.044845 ms ++++++++++++++++++++++
--------------------stamp1317358292.290448904
sort q time 5.927423 
seperate points time 13.159236 
publication time 7.410827 ms 
whole laserOdometry time 7.422240 ms 
 
filter time 14.724121 ms 
--------------------stamp1317358292.394248962
sort q time 5.903184 
seperate points time 13.362578 
mapping data assosiation time 38.518300 ms 
publication time 9.014116 ms 
whole laserOdometry time 9.168928 ms mapping solver time 42.869284 ms 
--------------------stamp1317358292.498096942
prepare time 11.450352 
sort q time 6.572269 
seperate points time 12.525774 
publication time 8.956475 ms 
whole laserOdometry time 8.972665 ms 
 
mapping solver time 46.965547 ms 
filter time 12.335279 ms 
--------------------stamp1317358292.601943016
points size 102269 
build tree time 40.486033 ms 
-----t: 0.0365881
OdomCount 5107 & avg odom time 0.044850 ms ++++++++++++++++++++++
mapping data assosiation time 36.650016 ms 
--------------------stamp1317358292.705789089
prepare time 11.396736 
sort q time 6.382806 
seperate points time 13.618816 
publication time 7.223432 ms 
whole laserOdometry time 7.238874 ms 
 
mapping solver time 34.713059 ms 
mapping optimization time 190.647326 
add points time 0.794792 ms
drop lidar frame in mapping for real time performance 
--------------------stamp1317358292.809659957
prepare time 11.094773 
sort q time 6.323015 
seperate points time 13.276738 
publication time 7.670776 ms 
whole laserOdometry time 7.685312 ms 
 
-----t: 0.0417901
OdomCount 5109 & avg odom time 0.044850 ms ++++++++++++++++++++++
mapping data assosiation time 36.711249 ms 
--------------------stamp1317358292.913531064
prepare time 11.408542 
sort q time 6.249848 
seperate points time 13.231518 
publication time 8.792828 ms 
whole laserOdometry time 8.815810 ms 
 
-----t: 0.0416141
OdomCount 5110 & avg odom time 0.044849 ms ++++++++++++++++++++++
mapping solver time 26.334940 ms 
filter time 10.042138 ms 
map prepare time 4.231504 ms
map corner num 154564  surf num 59758 
points size 102104 
sort q time 6.555873 
seperate points time 13.468808 
publication time 9.451800 ms 
whole laserOdometry time 9.464016 ms 
 
mapping data assosiation time 40.420688 ms 
--------------------stamp1317358293.121320009
prepare time 13.049168 
mapping solver time 50.572205 ms 
scan registration time 40.374296 ms *************
-----t: 0.0519096
OdomCount 5112 & avg odom time 0.044851 ms ++++++++++++++++++++++
mapping solver time 31.748746 ms 
points size 101703 
mapping pub time 2.403538 ms 
whole mapping time 237.155079 ms +++++
mappingCount 3327 & avg mapping time 155.813754 ms ++++++++++++++++++++++
publication time 20.748724 ms 
whole laserOdometry time 20.763177 ms 
 
-----t: 0.0616573
OdomCount 5113 & avg odom time 0.044854 ms ++++++++++++++++++++++
--------------------stamp1317358293.329158067
prepare time 11.431635 
sort q time 6.085110 
seperate points time 12.777260 
publication time 8.785441 ms 
whole laserOdometry time 8.798537 ms 
 
mapping solver time 46.050944 ms 
mapping data assosiation time 40.981727 ms 
points size 100351 
mapping solver time 28.094444 ms 
filter time 13.245719 ms 
mapping pub time 2.331130 ms 
whole mapping time 225.829285 ms +++++
mappingCount 3328 & avg mapping time 155.834795 ms ++++++++++++++++++++++
1317358293.017426014 WriteOdom aft_mapped_to_init
-----t: 0.0637126
OdomCount 5115 & avg odom time 0.044858 ms ++++++++++++++++++++++
--------------------stamp1317358293.537041902
mapping data assosiation time 36.217529 ms 
scan registration time 27.944081 ms *************
publication time 7.923216 ms 
whole laserOdometry time 7.937228 ms 
 
mapping solver time 38.695836 ms 
-----t: 0.0565803
OdomCount 5116 & avg odom time 0.044860 ms ++++++++++++++++++++++
mapping data assosiation time 33.176750 ms 
--------------------stamp1317358293.641007900
points size 97115 
prepare time 13.087387 
mapping solver time 30.219477 ms 
filter time 14.457618 ms 
publication time 8.778513 ms 
whole laserOdometry time 8.790876 ms 
 
build tree time 39.140921 ms 
--------------------stamp1317358293.744998931
prepare time 12.966845 
sort q time 5.671737 
seperate points time 11.625558 
publication time 7.941325 ms 
whole laserOdometry time 7.954695 ms 
 
-----t: 0.040803
OdomCount 5118 & avg odom time 0.044860 ms ++++++++++++++++++++++
mapping data assosiation time 34.039425 ms 
mapping solver time 17.279162 ms 
points size 96158 
map prepare time 4.133143 ms
map corner num 156078  surf num 60238 
publication time 8.159446 ms 
whole laserOdometry time 8.175338 ms 
 
mapping data assosiation time 32.321187 ms 
--------------------stamp1317358293.952980995
prepare time 13.021839 
sort q time 6.040741 
seperate points time 12.684310 
-----t: 0.0348839
OdomCount 5120 & avg odom time 0.044858 ms ++++++++++++++++++++++
mapping data assosiation time 35.077263 ms 
mapping solver time 27.748967 ms 
filter time 14.132877 ms 
[0m[ INFO] [1718890376.977066997, 1317358294.073014708]: Received 216537 data points in frame camera_init with the following fields: x y z intensity[0m
scan registration time 34.440328 ms *************
publication time 8.343703 ms 
whole laserOdometry time 8.357810 ms 
 
build tree time 40.828247 ms 
mapping data assosiation time 33.484134 ms 
points size 101111 
sort q time 5.641300 
seperate points time 13.033216 
publication time 9.861551 ms 
whole laserOdometry time 9.879258 ms 
 
-----t: 0.0564116
OdomCount 5122 & avg odom time 0.044862 ms ++++++++++++++++++++++
mapping solver time 27.745359 ms 
points size 101664 
map prepare time 3.633241 ms
map corner num 156460  surf num 60338 
scan registration time 33.370931 ms *************
publication time 10.526336 ms 
whole laserOdometry time 10.541014 ms 
 
-----t: 0.0503325
OdomCount 5123 & avg odom time 0.044863 ms ++++++++++++++++++++++
mapping data assosiation time 34.289403 ms 
points size 101844 
sort q time 5.558399 
seperate points time 12.859892 
-----t: 0.0557008
OdomCount 5124 & avg odom time 0.044865 ms ++++++++++++++++++++++mapping solver time 26.512030 ms 
points size 102071 
map prepare time 3.790094 ms
map corner num 156700  surf num 60411 
publication time 8.737650 ms 
whole laserOdometry time 8.747716 ms 
 
build tree time 43.944687 ms 
mapping data assosiation time 33.640937 ms 
points size 102274 
sort q time 6.477222 
seperate points time 13.229739 
publication time 9.869296 ms 
whole laserOdometry time 9.881678 ms 
 
-----t: 0.061474
OdomCount 5126 & avg odom time 0.044869 ms ++++++++++++++++++++++
--------------------stamp1317358294.681324005
filter time 15.529966 ms 
map prepare time 4.345961 ms
map corner num 156952  surf num 60506 
publication time 8.632575 ms 
whole laserOdometry time 8.649239 ms 
 
-----t: 0.0519996
OdomCount 5127 & avg odom time 0.044871 ms ++++++++++++++++++++++
1317358294.681324005 WriteOdom laser_odom_to_init
1317358294.681324005 WriteOdom aft_mapped_to_init_high_frec
build tree time 41.897660 ms 
--------------------stamp1317358294.785459041
prepare time 11.130020 
sort q time 6.301666 
seperate points time 13.211445 
publication time 8.666021 ms 
whole laserOdometry time 8.681390 ms 
 
mapping solver time 56.244000 ms 
mapping data assosiation time 31.373265 ms 
points size 102673 
mapping solver time 35.244569 ms 
filter time 15.213725 ms 
-----t: 0.0376312
OdomCount 5129 & avg odom time 0.044870 ms ++++++++++++++++++++++
build tree time 36.907722 ms 
--------------------stamp1317358294.993776082
prepare time 13.836845 
sort q time 5.965559 
seperate points time 13.857993 
scan registration time 34.032467 ms *************
-----t: 0.0386981
OdomCount 5130 & avg odom time 0.044869 ms ++++++++++++++++++++++
1317358294.993776082 WriteOdom laser_odom_to_init
publication time 8.587576 ms 
whole laserOdometry time 8.593807 ms 
 
1317358294.993776082 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 49.351267 ms 
--------------------stamp1317358295.097960948
prepare time 13.128139 
sort q time 6.368012 
seperate points time 13.567982 
publication time 8.307299 ms 
whole laserOdometry time 8.324939 ms 
 
filter time 11.100931 ms 
map prepare time 3.483172 ms
map corner num 157481  surf num 60708 
--------------------stamp1317358295.202191114
points size 102878 
sort q time 5.848220 
seperate points time 13.422690 
mapping data assosiation time 39.543658 ms 
mapping solver time 42.436289 ms 
points size 102986 
sort q time 5.939388 
seperate points time 13.096131 
publication time 7.968251 ms 
whole laserOdometry time 7.986743 ms 
 
-----t: 0.0511417
OdomCount 5133 & avg odom time 0.044869 ms ++++++++++++++++++++++
filter time 10.151419 ms 
map prepare time 3.167639 ms
map corner num 157913  surf num 60824 
--------------------stamp1317358295.410605907
prepare time 13.241024 
sort q time 6.838424 
seperate points time 14.130849 
publication time 10.491821 ms 
whole laserOdometry time 10.506991 ms 
 
mapping data assosiation time 42.079006 ms 
--------------------stamp1317358295.514787912
sort q time 5.664048 
seperate points time 13.104220 
publication time 11.106095 ms 
whole laserOdometry time 11.117884 ms 
 
mapping solver time 37.523112 ms 
filter time 10.751207 ms 
points size 102993 
sort q time 5.754445 
seperate points time 12.641969 
scan registration time 32.515896 ms *************
publication time 9.866745 ms 
whole laserOdometry time 9.879314 ms 
 
-----t: 0.0588745
OdomCount 5136 & avg odom time 0.044874 ms ++++++++++++++++++++++
--------------------stamp1317358295.723104953
prepare time 13.070669 
sort q time 6.238912 
seperate points time 13.569511 
publication time 7.967775 ms 
whole laserOdometry time 7.981706 ms 
 
mapping solver time 36.590580 ms 
filter time 11.803618 ms 
sort q time 5.456965 
seperate points time 12.596387 
publication time 9.410993 ms 
whole laserOdometry time 9.423352 ms 
 
build tree time 45.571652 ms 
mapping data assosiation time 34.164381 ms 
points size 102784 
sort q time 5.816066 
seperate points time 12.606947 
publication time 8.145427 ms 
whole laserOdometry time 8.161917 ms 
 
mapping data assosiation time 37.053607 ms 
mapping solver time 26.016235 ms 
points size 102802 
map prepare time 4.152557 ms
map corner num 159159  surf num 61183 
publication time 9.059910 ms 
whole laserOdometry time 9.079530 ms 
 
build tree time 45.441679 ms 
mapping data assosiation time 33.855763 ms 
points size 102957 
sort q time 5.801220 
seperate points time 13.601378 
mapping solver time 47.407568 ms 
scan registration time 34.727844 ms *************
publication time 11.217483 ms 
whole laserOdometry time 11.232477 ms 
 
-----t: 0.0524499
OdomCount 5142 & avg odom time 0.044876 ms ++++++++++++++++++++++
--------------------stamp1317358296.347433090
prepare time 11.519970 
sort q time 5.986101 
seperate points time 12.958053 
publication time 8.370203 ms 
whole laserOdometry time 8.384627 ms 
 
-----t: 0.073843
OdomCount 5143 & avg odom time 0.044882 ms ++++++++++++++++++++++
map prepare time 3.808203 ms
map corner num 159650  surf num 61320 
prepare time 11.091868 
sort q time 5.796698 
seperate points time 11.914958 
build tree time 42.128679 ms 
-----t: 0.0542811
OdomCount 5144 & avg odom time 0.044884 ms ++++++++++++++++++++++
--------------------stamp1317358296.555676937
points size 103076 
sort q time 6.810957 
seperate points time 14.520268 
publication time 13.371456 ms 
whole laserOdometry time 13.404329 ms 
 
-----t: 0.0621507
OdomCount 5145 & avg odom time 0.044887 ms ++++++++++++++++++++++
1317358296.555676937 WriteOdom laser_odom_to_init
1317358296.555676937 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.460838 ms 
points size 103132 
sort q time 6.087348 
seperate points time 14.371587 
scan registration time 33.675935 ms *************
publication time 8.179787 ms 
whole laserOdometry time 8.196712 ms 
 
mapping data assosiation time 32.353548 ms 
points size 103137 
sort q time 5.958082 
seperate points time 14.592287 
scan registration time 47.581104 ms *************
publication time 9.394078 ms 
whole laserOdometry time 9.405937 ms 
 
points size 103206 
sort q time 5.890784 
seperate points time 13.434052 
drop lidar frame in mapping for real time performance 
-----t: 0.0450987
OdomCount 5148 & avg odom time 0.044888 ms ++++++++++++++++++++++
build tree time 37.893701 ms 
--------------------stamp1317358296.972409963
prepare time 13.435795 
sort q time 6.465059 
seperate points time 13.481107 
publication time 9.315856 ms 
whole laserOdometry time 9.329196 ms 
 
-----t: 0.0605434
OdomCount 5149 & avg odom time 0.044891 ms ++++++++++++++++++++++
mapping data assosiation time 32.046956 ms 
--------------------stamp1317358297.076545953
prepare time 12.966049 
mapping solver time 38.500921 ms 
filter time 15.374785 ms 
mapping pub time 2.500199 ms 
whole mapping time 216.318637 ms +++++
mappingCount 3344 & avg mapping time 156.166726 ms ++++++++++++++++++++++
1317358296.659858942 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
map prepare time 4.053120 ms
map corner num 161448  surf num 61962 
publication time 9.465942 ms 
whole laserOdometry time 9.479723 ms 
 
build tree time 37.300101 ms 
--------------------stamp1317358297.180632114
prepare time 11.431960 
mapping data assosiation time 36.756208 ms 
publication time 8.650768 ms 
whole laserOdometry time 8.679987 ms 
 
mapping solver time 44.503089 ms 
mapping data assosiation time 31.241855 ms 
points size 102870 
sort q time 5.887688 
seperate points time 13.155802 
filter time 15.479067 ms 
build tree time 35.067535 ms 
points size 102868 
sort q time 5.804661 
seperate points time 13.027843 
publication time 7.408209 ms 
whole laserOdometry time 7.425495 ms 
 
mapping solver time 45.655872 ms 
--------------------stamp1317358297.492650985
points size 102821 
sort q time 5.678521 
seperate points time 13.320105 
-----t: 0.0353542
OdomCount 5154 & avg odom time 0.044887 ms ++++++++++++++++++++++
[0m[ INFO] [1718890380.454424679, 1317358297.555663563]: Received 225250 data points in frame camera_init with the following fields: x y z intensity[0m
1317358297.076545954 WriteOdom aft_mapped_to_init
[0m[ INFO] [1718890380.454488680, 1317358297.555663563]: Data saved to 1317358297076545.pcd[0m
build tree time 38.199253 ms 
--------------------stamp1317358297.596546888
sort q time 6.019868 
seperate points time 13.106997 
publication time 8.097927 ms 
whole laserOdometry time 8.111039 ms 
 
-----t: 0.0563592
OdomCount 5155 & avg odom time 0.044889 ms ++++++++++++++++++++++
mapping solver time 44.464192 ms 
--------------------stamp1317358297.700417995
prepare time 11.694790 
sort q time 6.749573 
seperate points time 12.636311 
mapping solver time 25.816911 ms 
publication time 8.673080 ms 
whole laserOdometry time 8.686642 ms 
 
-----t: 0.0587468
OdomCount 5156 & avg odom time 0.044892 ms ++++++++++++++++++++++
--------------------stamp1317358297.804287910
prepare time 13.210695 
sort q time 6.344115 
seperate points time 13.333167 
publication time 9.446869 ms 
whole laserOdometry time 9.473931 ms 
 
mapping solver time 34.341307 ms 
--------------------stamp1317358297.908158063
prepare time 13.269314 
scan registration time 32.045015 ms *************
mapping solver time 27.449101 ms 
mapping optimization time 173.465173 
add points time 0.781583 ms
filter time 15.322641 ms 
build tree time 35.908017 ms 
points size 101804 
sort q time 5.944383 
seperate points time 12.813767 
publication time 9.322066 ms 
whole laserOdometry time 9.341664 ms 
 
mapping solver time 42.207566 ms 
--------------------stamp1317358298.115921020
prepare time 13.275217 
sort q time 6.066626 
seperate points time 13.059359 
mapping optimization time 190.307788 filter time 12.304349 ms 
map prepare time 2.944730 ms
map corner num 99778  surf num 42078 
build tree time 22.822170 ms 
--------------------stamp1317358298.219816923
prepare time 11.500378 
sort q time 5.550476 
seperate points time 12.629028 
publication time 8.629239 ms 
whole laserOdometry time 8.645007 ms 
 
mapping solver time 45.094437 ms 
-----t: 0.0611529
OdomCount 5161 & avg odom time 0.044891 ms ++++++++++++++++++++++
mapping data assosiation time 33.102708 ms 
points size 99870 
sort q time 5.616536 
seperate points time 12.592404 
filter time 10.214579 ms 
build tree time 21.732831 ms 
mapping data assosiation time 29.884766 ms 
sort q time 6.018893 
seperate points time 12.278102 
publication time 7.979239 ms 
whole laserOdometry time 7.994054 ms 
 
-----t: 0.0590509
OdomCount 5163 & avg odom time 0.044892 ms ++++++++++++++++++++++
--------------------stamp1317358298.531403064
filter time 7.828456 ms 
[0m[ INFO] [1718890381.451310964, 1317358298.547146612]: Received 143943 data points in frame camera_init with the following fields: x y z intensity[0m
mapping pub time 4.286324 ms 
whole mapping time 182.382615 ms +++++
mappingCount 3351 & avg mapping time 156.261568 ms ++++++++++++++++++++++
[0m[ INFO] [1718890381.451386418, 1317358298.547146612]: Data saved to 1317358298219816.pcd[0m
1317358298.219816923 WriteOdom aft_mapped_to_init
sort q time 5.702774 
seperate points time 12.697219 
scan registration time 24.097737 ms *************
map prepare time 3.868832 ms
map corner num 101426  surf num 42517 
publication time 12.306448 ms 
whole laserOdometry time 12.325257 ms 
 
-----t: 0.0664098
OdomCount 5164 & avg odom time 0.044896 ms ++++++++++++++++++++++
mapping data assosiation time 39.178150 ms 
points size 99310 
sort q time 5.912750 
seperate points time 11.629008 
mapping solver time 40.629881 ms 
publication time 12.876241 ms 
whole laserOdometry time 12.891633 ms 
 
mapping data assosiation time 38.418114 ms 
-----t: 0.0602042
OdomCount 5165 & avg odom time 0.044899 ms ++++++++++++++++++++++
1317358298.635179042 WriteOdom laser_odom_to_init
1317358298.635179042 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 24.498459 ms 
points size 99282 
filter time 13.528214 ms 
prepare time 11.384180 
mapping pub time 2.460375 ms 
whole mapping time 195.838201 ms +++++
mappingCount 3352 & avg mapping time 156.273377 ms ++++++++++++++++++++++
1317358298.427582979 WriteOdom aft_mapped_to_init
drop lidar frame in mapping for real time performance 
publication time 8.257024 ms 
whole laserOdometry time 8.270965 ms 
 
-----t: 0.0441292
OdomCount 5166 & avg odom time 0.044899 ms ++++++++++++++++++++++
mapping data assosiation time 31.091434 ms 
--------------------stamp1317358298.842622041
points size 98847 
sort q time 6.724666 
seperate points time 15.451247 
mapping data assosiation time 35.669640 ms 
-----t: 0.0448707
OdomCount 5167 & avg odom time 0.044899 ms ++++++++++++++++++++++
mapping optimization time 160.256682 
add points time 0.777216 ms
--------------------stamp1317358298.946312904
prepare time 12.892764 
sort q time 5.540693 
seperate points time 12.198426 
publication time 8.530511 ms 
whole laserOdometry time 8.543687 ms 
 
-----t: 0.0461004
OdomCount 5168 & avg odom time 0.044899 ms ++++++++++++++++++++++
1317358298.946312904 WriteOdom laser_odom_to_init
1317358298.946312904 WriteOdom aft_mapped_to_init_high_frec
mapping solver time 37.527929 ms 
--------------------stamp1317358299.050019025
prepare time 10.068267 
mapping data assosiation time 33.842635 ms 
publication time 8.552561 ms 
whole laserOdometry time 8.569027 ms 
 
mapping solver time 33.993325 ms 
filter time 7.865291 ms 
build tree time 21.365042 ms 
points size 100613 
sort q time 6.318511 
seperate points time 13.128242 
publication time 8.579311 ms 
whole laserOdometry time 8.592612 ms 
 
-----t: 0.0400851
OdomCount 5170 & avg odom time 0.044896 ms ++++++++++++++++++++++
mapping solver time 42.191809 ms 
mapping data assosiation time 31.453451 ms 
points size 100342 
sort q time 5.493638 
seperate points time 13.530134 
filter time 8.585596 ms 
build tree time 27.193773 ms 
--------------------stamp1317358299.361196994
prepare time 9.082143 
mapping data assosiation time 34.581026 ms 
publication time 8.264003 ms 
whole laserOdometry time 8.281327 ms 
 
mapping solver time 44.774814 ms 
mapping data assosiation time 32.689790 ms 
points size 98373 
scan registration time 27.674114 ms *************
mapping solver time 48.776925 ms 
filter time 10.648243 ms 
map prepare time 2.965183 ms
map corner num 133141  surf num 51242 
build tree time 27.818770 ms 
points size 98551 
sort q time 6.177819 
seperate points time 12.438724 
publication time 7.728027 ms 
whole laserOdometry time 7.740590 ms 
 
-----t: 0.0481653
OdomCount 5174 & avg odom time 0.044891 ms ++++++++++++++++++++++
mapping data assosiation time 29.090488 ms 
points size 98243 
mapping solver time 25.071753 ms 
mapping optimization time 160.675591 
mapping pub time 2.316962 ms 
whole mapping time 177.715800 ms +++++
mappingCount 3357 & avg mapping time 156.320961 ms ++++++++++++++++++++++
1317358299.361196995 WriteOdom aft_mapped_to_init
publication time 9.416642 ms 
whole laserOdometry time 9.446803 ms 
 
build tree time 34.662252 ms 
mapping solver time 30.884184 ms 
mapping data assosiation time 29.321385 ms 
mapping solver time 25.164776 ms 
filter time 9.412389 ms 

Done.
build tree time 29.910803 ms 
mapping data assosiation time 27.999714 ms 
mapping solver time 29.188649 ms 
mapping data assosiation time 28.416592 ms 
mapping solver time 22.810291 ms 
mapping optimization time 141.066999 
add points time 0.793758 ms
filter time 9.365430 ms 
mapping pub time 2.298917 ms 
whole mapping time 157.352035 ms +++++
mappingCount 3359 & avg mapping time 156.325190 ms ++++++++++++++++++++++
1317358299.672569036 WriteOdom aft_mapped_to_init
killing:
 * /alaserMapping
 * /alaserOdometry
 * /ascanRegistration
 * /camera_init2odom_publisher
 * /global_graph_nodelet
 * /kittiHelper
 * /lidar2base_publisher
 * /map2odom_publisher
 * /pointcloud_to_pcd_1718889844082836889
 * /prefiltering_nodelet
 * /rosout
 * /scan_matching_odom_nodelet
 * /velodyne_nodelet_manager
[33m[ WARN] [1718890383.330807990, 1317358299.890984156]: Shutdown request received.[0m
[33m[ WARN] [1718890383.330856529, 1317358299.890984156]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718890383.347289308, 1317358299.890984156]: Shutdown request received.[0m
[33m[ WARN] [1718890383.348326715, 1317358299.890984156]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718890383.364603921, 1317358299.890984156]: Shutdown request received.[0m
[33m[ WARN] [1718890383.364640877, 1317358299.890984156]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718890383.384055030, 1317358299.890984156]: Shutdown request received.[0m
[33m[ WARN] [1718890383.385001077, 1317358299.890984156]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718890383.404487311, 1317358299.890984156]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1718890383.421062733, 1317358299.890984156]: Shutdown request received.[0m
[33m[ WARN] [1718890383.421954700, 1317358299.890984156]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718890383.441314198, 1317358299.890984156]: Shutdown request received.[0m
terminate called without an active exception
[33m[ WARN] [1718890383.442208484, 1317358299.890984156]: Reason given for shutdown: [user request][0m
[1m[alaserOdometry-8] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/alaserOdometry-8*.log[0m
[1m[lidar2base_publisher-2] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/lidar2base_publisher-2*.log[0m
[1m[camera_init2odom_publisher-3] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/camera_init2odom_publisher-3*.log[0m
[1m[ascanRegistration-7] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/ascanRegistration-7*.log[0m
[1m[kittiHelper-10] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/kittiHelper-10*.log[0m
[33m[ WARN] [1718890383.646162456, 1317358299.890984156]: Shutdown request received.[0m
[33m[ WARN] [1718890383.646189422, 1317358299.890984156]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718890383.662280862, 1317358299.890984156]: Shutdown request received. Reason: [user request][0m
[31m[alaserMapping-9] process has died [pid 176, exit code -6, cmd /home/chenshoubin/slam_ws/devel/lib/aloam_velodyne/alaserMapping /velodyne_points:=/points_raw /gpsimu_driver/imu_data:=/imu_raw __name:=alaserMapping __log:=/root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/alaserMapping-9.log].
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/alaserMapping-9*.log[0m
[1m[global_graph_nodelet-11] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/global_graph_nodelet-11*.log[0m
[33m[ WARN] [1718890383.681220160, 1317358299.890984156]: Shutdown request received.[0m
[33m[ WARN] [1718890383.681250011, 1317358299.890984156]: Reason given for shutdown: [user request][0m
[33m[ WARN] [1718890383.700054964, 1317358299.890984156]: Shutdown request received. Reason: [user request][0m
[33m[ WARN] [1718890383.716073969, 1317358299.890984156]: Shutdown request received.[0m
[33m[ WARN] [1718890383.716115193, 1317358299.890984156]: Reason given for shutdown: [user request][0m
killed
[1m[map2odom_publisher-12] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/map2odom_publisher-12*.log[0m
[1m[rosout-1] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/rosout-1*.log[0m
[1m[velodyne_nodelet_manager-4] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/velodyne_nodelet_manager-4*.log[0m
[1m[prefiltering_nodelet-5] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/prefiltering_nodelet-5*.log[0m
[1m[scan_matching_odom_nodelet-6] process has finished cleanly
log file: /root/.ros/log/574e20b2-2f08-11ef-9268-0242ac110003/scan_matching_odom_nodelet-6*.log[0m
[rosout-1] restarting process
[1mprocess[rosout-1]: started with pid [347][0m
