[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]