[parameters:]
------------------------------------------------------------------------
[ INFO] [34.600893000]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 0 0 0
m_count 0
Registering First Scan
[ INFO] [34.702660999]: === TRAJECTORY TREE ITERATION TIME: 61 [ms]
update frame 3
update ld=0 ad=0
Laser Pose= 0 0 0
m_count 1
Average Scan Matching Score=1064.2
neff= 20
Registering Scans:Done
update frame 7
update ld=0 ad=0
Laser Pose= 0 0 0
m_count 2
Average Scan Matching Score=1064.2
neff= 20
Registering Scans:Done
update frame 12
update ld=0 ad=0
Laser Pose= 0 0 0
m_count 3
Average Scan Matching Score=1064.2
neff= 20
Registering Scans:Done
update frame 18
update ld=0.1 ad=0
Laser Pose= 0.1 2.07285e-15 0
m_count 4
Average Scan Matching Score=1024.59
neff= 19.5599
Registering Scans:Done
update frame 19
update ld=0.25 ad=0
Laser Pose= 0.35 7.25498e-15 0
m_count 5
Average Scan Matching Score=997.944
neff= 19.5317
Registering Scans:Done
update frame 20
update ld=0.45 ad=0.20944
Laser Pose= 0.8 1.65828e-14 0.20944
m_count 6
Average Scan Matching Score=938.081
neff= 18.0612
Registering Scans:Done
update frame 21
update ld=0.1 ad=0.733038
Laser Pose= 0.858779 0.0809017 0.942478
m_count 7
Average Scan Matching Score=861.04
neff= 17.3131
Registering Scans:Done
[ INFO] [42.668418925]: === TRAJECTORY TREE ITERATION TIME: 581 [ms]
update frame 22
update ld=1.4 ad=0
Laser Pose= 1.68168 1.21353 0.942478
m_count 8
Average Scan Matching Score=849.717
neff= 13.3346
Registering Scans:Done
update frame 23
update ld=0.69562 ad=0.314159
Laser Pose= 2.02954 1.81592 1.25664
m_count 9
Average Scan Matching Score=832.409
neff= 13.1745
Registering Scans:Done
update frame 24
update ld=0.496827 ad=0.314159
Laser Pose= 2.1227 2.30394 1.5708
m_count 10
Average Scan Matching Score=836.478
neff= 13.1487
Registering Scans:Done
[ INFO] [49.167889869]: === TRAJECTORY TREE ITERATION TIME: 592 [ms]
update frame 25
update ld=0.929071 ad=0.733038
Laser Pose= 1.85643 3.19403 2.30383
m_count 11
Average Scan Matching Score=763.116
neff= 9.20134
*************RESAMPLE***************
Deleting Nodes: 1 2 3 7 11 12 13 14 15 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
update frame 26
update ld=0.249781 ad=0.314159
Laser Pose= 1.64277 3.32342 2.61799
m_count 12
Average Scan Matching Score=1008.52
neff= 18.3627
Registering Scans:Done
update frame 27
update ld=0.6 ad=0
Laser Pose= 1.12316 3.62342 2.61799
m_count 13
Average Scan Matching Score=990.687
neff= 16.8581
Registering Scans:Done
[ INFO] [54.195042844]: === TRAJECTORY TREE ITERATION TIME: 732 [ms]
update frame 28
update ld=1.2 ad=0
Laser Pose= 0.0839251 4.22342 2.61799
m_count 14
Average Scan Matching Score=1046.88
neff= 16.3939
Registering Scans:Done
update frame 29
update ld=0.65 ad=0
Laser Pose= -0.478991 4.54842 2.61799
m_count 15
Average Scan Matching Score=1070.82
neff= 16.3822
Registering Scans:Done
update frame 30
update ld=0.55 ad=0
Laser Pose= -0.955305 4.82342 2.61799
m_count 16
Average Scan Matching Score=1071.32
neff= 16.9671
Registering Scans:Done
update frame 31
update ld=0.55 ad=0
Laser Pose= -1.43162 5.09842 2.61799
m_count 17
Average Scan Matching Score=1069.87
neff= 16.589
Registering Scans:Done
[ INFO] [60.393489826]: === TRAJECTORY TREE ITERATION TIME: 902 [ms]
update frame 32
update ld=1.4 ad=0
Laser Pose= -2.64405 5.79842 2.61799
m_count 18
Average Scan Matching Score=982.749
neff= 8.19079
*************RESAMPLE***************
Deleting Nodes: 3 5 7 11 12 14 16 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
update frame 33
update ld=0.6 ad=0
Laser Pose= -3.16367 6.09842 2.61799
m_count 19
Average Scan Matching Score=1044.7
neff= 19.9058
Registering Scans:Done
update frame 34
update ld=0.8 ad=0
Laser Pose= -3.85649 6.49842 2.61799
m_count 20
Average Scan Matching Score=1003.62
neff= 18.961
Registering Scans:Done
[ INFO] [66.835207799]: === TRAJECTORY TREE ITERATION TIME: 1412 [ms]
update frame 35
update ld=1.95 ad=0
Laser Pose= -5.54524 7.47342 2.61799
m_count 21
Average Scan Matching Score=755.124
neff= 6.95536
*************RESAMPLE***************
Deleting Nodes: 2 3 4 6 8 12 13 15 17 19 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
update frame 36
update ld=0.8 ad=0
Laser Pose= -6.23806 7.87342 2.61799
m_count 22
Average Scan Matching Score=971.941
neff= 17.8668
Registering Scans:Done
[ INFO] [71.759819730]: === TRAJECTORY TREE ITERATION TIME: 1191 [ms]
update frame 37
update ld=0.757674 ad=0.837758
Laser Pose= -6.98653 7.99116 -2.82743
m_count 23
Average Scan Matching Score=866.52
neff= 7.94249
*************RESAMPLE***************
Deleting Nodes: 2 3 4 5 7 8 13 15 16 18 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
update frame 38
update ld=0.55 ad=0
Laser Pose= -7.50961 7.8212 -2.82743
m_count 24
Average Scan Matching Score=1044.48
neff= 15.0282
Registering Scans:Done
update frame 39
update ld=0.6 ad=0
Laser Pose= -8.08025 7.63579 -2.82743
m_count 25
Average Scan Matching Score=1047.78
neff= 15.3552
Registering Scans:Done
[ INFO] [77.488704688]: === TRAJECTORY TREE ITERATION TIME: 1335 [ms]
update frame 40
update ld=1.55 ad=0
Laser Pose= -9.55438 7.15681 -2.82743
m_count 26
Average Scan Matching Score=985.637
neff= 12.8784
Registering Scans:Done
update frame 41
update ld=0.7 ad=0
Laser Pose= -10.2201 6.9405 -2.82743
m_count 27
Average Scan Matching Score=978.231
neff= 12.4864
Registering Scans:Done
update frame 42
update ld=0.6 ad=0
Laser Pose= -10.7908 6.75509 -2.82743
m_count 28
Average Scan Matching Score=893.235
neff= 12.3072
Registering Scans:Done
[ INFO] [84.194350662]: === TRAJECTORY TREE ITERATION TIME: 2105 [ms]
update frame 43
update ld=2.2 ad=0
Laser Pose= -12.8831 6.07525 -2.82743
m_count 29
Average Scan Matching Score=555.099
neff= 6.88032
*************RESAMPLE***************
Deleting Nodes: 1 5 6 8 10 12 13 14 15 16 17 18 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
update frame 44
update ld=0.7 ad=0
Laser Pose= -13.5488 5.85894 -2.82743
m_count 30
Average Scan Matching Score=788.588
neff= 14.1037
Registering Scans:Done
[ INFO] [89.255374633]: === TRAJECTORY TREE ITERATION TIME: 1660 [ms]
update frame 45
update ld=1.05751 ad=0.628319
Laser Pose= -14.3044 5.11902 -2.19911
m_count 31
Average Scan Matching Score=859.541
neff= 6.24972
*************RESAMPLE***************
Deleting Nodes: 1 4 8 10 11 13 14 18 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
update frame 46
update ld=0.7 ad=0
Laser Pose= -14.7158 4.55271 -2.19911
m_count 32
Average Scan Matching Score=1022.23
neff= 18.156
Registering Scans:Done
update frame 47
update ld=0.598176 ad=0.209439
Laser Pose= -15.0504 4.05685 -1.98968
m_count 33
Average Scan Matching Score=998.586
neff= 17.5587
Registering Scans:Done
[ INFO] [96.567962551]: === TRAJECTORY TREE ITERATION TIME: 2366 [ms]
update frame 48
update ld=1.79772 ad=0
Laser Pose= -15.8431 2.44335 -1.98968
m_count 34
Average Scan Matching Score=850.066
neff= 9.36294
*************RESAMPLE***************
Deleting Nodes: 0 2 4 5 6 8 10 14 18 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
update frame 49
update ld=0.85 ad=0
Laser Pose= -16.1889 1.66684 -1.98968
m_count 35
Average Scan Matching Score=975.225
neff= 13.7335
Registering Scans:Done
[ INFO] [102.094871502]: === TRAJECTORY TREE ITERATION TIME: 1806 [ms]
update frame 50
update ld=1.59123 ad=0.209439
Laser Pose= -16.9845 0.288791 -2.19911
m_count 36
Average Scan Matching Score=991.533
neff= 13.6754
Registering Scans:Done
update frame 51
update ld=0.8 ad=0
Laser Pose= -17.4547 -0.358422 -2.19911
m_count 37
Average Scan Matching Score=1050.26
neff= 13.8189
Registering Scans:Done
[ INFO] [107.785389479]: === TRAJECTORY TREE ITERATION TIME: 1995 [ms]
update frame 52
update ld=1.59412 ad=0.209439
Laser Pose= -18.2832 -1.72031 -1.98968
m_count 38
Average Scan Matching Score=820.565
neff= 7.99354
*************RESAMPLE***************
Deleting Nodes: 2 3 4 7 8 9 12 13 18 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
update frame 53
update ld=0.4 ad=0.20944
Laser Pose= -18.3664 -2.11157 -1.78024
m_count 39
Average Scan Matching Score=1004.27
neff= 17.7484
Registering Scans:Done
[ INFO] [113.166469434]: === TRAJECTORY TREE ITERATION TIME: 2043 [ms]
update frame 54
update ld=1.54159 ad=0
Laser Pose= -18.8577 -3.57279 -1.78024
m_count 40
Average Scan Matching Score=384.137
neff= 9.13579
*************RESAMPLE***************
Deleting Nodes: 0 3 8 9 13 14 16 19 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
update frame 55
update ld=0.5 ad=0
Laser Pose= -18.9616 -4.06186 -1.78024
m_count 41
Average Scan Matching Score=841.23
neff= 18.0774
Registering Scans:Done
[ INFO] [118.149668367]: === TRAJECTORY TREE ITERATION TIME: 2162 [ms]
update frame 56
update ld=1.84948 ad=0.10472
Laser Pose= -19.3359 -5.87308 -1.67552
m_count 42
Average Scan Matching Score=553.584
neff= 7.42555
*************RESAMPLE***************
Deleting Nodes: 0 1 2 4 7 8 11 12 14 16 19 Done
Deleting old particles...Done
Copying Particles and Registering scans... Done
update frame 57
update ld=0.45 ad=0
Laser Pose= -19.383 -6.32061 -1.67552
m_count 43
Average Scan Matching Score=1060.43
neff= 19.279
Registering Scans:Done
update frame 58
update ld=0.449028 ad=0.20944
Laser Pose= -19.3464 -6.76814 -1.46608
m_count 44
Average Scan Matching Score=1029.41
neff= 18.9278
Registering Scans:Done
[ INFO] [126.152724295]: === TRAJECTORY TREE ITERATION TIME: 3189 [ms]
update frame 59
update ld=1.29305 ad=0.628319
Laser Pose= -19.3673 -8.06102 -2.0944
m_count 45
Average Scan Matching Score=697.644
neff= 11.7036
Registering Scans:Done
[ INFO] [126.795137292]: === TRAJECTORY TREE ITERATION TIME: 0 [ms]