[parameters:] all default ------------------------------------------------------------------------ -maxUrange 29.99 -maxUrange 29.99 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 20 [ INFO] [34.621196999]: Initialization complete update frame 0 update ld=0 ad=0 Laser Pose= 0 0 0 m_count 0 Registering First Scan [ INFO] [34.732914998]: === TRAJECTORY TREE ITERATION TIME: 70 [ms] update frame 1 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 2 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 3 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 4 update ld=0.1 ad=0 Laser Pose= 0.1 2.07285e-15 0 m_count 4 Average Scan Matching Score=1024.75 neff= 19.698 Registering Scans:Done update frame 5 update ld=0.65 ad=0 Laser Pose= 0.75 1.55464e-14 0 m_count 5 Average Scan Matching Score=929.491 neff= 19.3557 Registering Scans:Done update frame 6 update ld=0.0891007 ad=0.942478 Laser Pose= 0.829389 0.0404508 0.942478 m_count 6 Average Scan Matching Score=803.108 neff= 17.2044 Registering Scans:Done [ INFO] [42.374536908]: === TRAJECTORY TREE ITERATION TIME: 492 [ms] update frame 7 update ld=1.35 ad=0 Laser Pose= 1.6229 1.13262 0.942478 m_count 7 Average Scan Matching Score=778.857 neff= 13.1364 Registering Scans:Done update frame 8 update ld=0.598107 ad=0.20944 Laser Pose= 1.95308 1.63134 1.15192 m_count 8 Average Scan Matching Score=910.129 neff= 12.5911 Registering Scans:Done update frame 9 update ld=0.448661 ad=0.20944 Laser Pose= 2.09668 2.0564 1.36136 m_count 9 Average Scan Matching Score=880.05 neff= 12.2459 Registering Scans:Done [ INFO] [48.290523854]: === TRAJECTORY TREE ITERATION TIME: 701 [ms] update frame 10 update ld=0.939086 ad=0.628319 Laser Pose= 1.99807 2.99029 1.98968 m_count 10 Average Scan Matching Score=730.372 neff= 9.8985 *************RESAMPLE*************** Deleting Nodes: 4 5 6 9 10 11 13 17 19 Done Deleting old particles...Done Copying Particles and Registering scans... Done update frame 11 update ld=0.390333 ad=0.628318 Laser Pose= 1.72937 3.27342 2.61799 m_count 11 Average Scan Matching Score=980.115 neff= 16.5408 Registering Scans:Done update frame 12 update ld=0.6 ad=0 Laser Pose= 1.20976 3.57342 2.61799 m_count 12 Average Scan Matching Score=987.482 neff= 17.4553 Registering Scans:Done [ INFO] [53.893228823]: === TRAJECTORY TREE ITERATION TIME: 705 [ms] update frame 13 update ld=1.15 ad=0 Laser Pose= 0.213829 4.14842 2.61799 m_count 13 Average Scan Matching Score=1026.94 neff= 17.3865 Registering Scans:Done update frame 14 update ld=0.8 ad=0 Laser Pose= -0.478991 4.54842 2.61799 m_count 14 Average Scan Matching Score=1066.78 neff= 17.2957 Registering Scans:Done update frame 15 update ld=0.85 ad=0 Laser Pose= -1.21511 4.97342 2.61799 m_count 15 Average Scan Matching Score=1050.55 neff= 13.9789 Registering Scans:Done [ INFO] [60.472536794]: === TRAJECTORY TREE ITERATION TIME: 1112 [ms] update frame 16 update ld=1.8 ad=0 Laser Pose= -2.77396 5.87342 2.61799 m_count 16 Average Scan Matching Score=889.004 neff= 8.4028 *************RESAMPLE*************** Deleting Nodes: 5 6 9 12 14 15 17 19 Done Deleting old particles...Done Copying Particles and Registering scans... Done update frame 17 update ld=0.75 ad=0 Laser Pose= -3.42348 6.24842 2.61799 m_count 17 Average Scan Matching Score=1007.43 neff= 19.6612 Registering Scans:Done [ INFO] [65.627045721]: === TRAJECTORY TREE ITERATION TIME: 1204 [ms] update frame 18 update ld=1.8 ad=0 Laser Pose= -4.98232 7.14842 2.61799 m_count 18 Average Scan Matching Score=822.304 neff= 9.31719 *************RESAMPLE*************** Deleting Nodes: 0 1 8 9 13 14 15 17 19 Done Deleting old particles...Done Copying Particles and Registering scans... Done update frame 19 update ld=0.95 ad=0 Laser Pose= -5.80505 7.62342 2.61799 m_count 19 Average Scan Matching Score=999.818 neff= 19.8919 Registering Scans:Done [ INFO] [71.152614659]: === TRAJECTORY TREE ITERATION TIME: 1207 [ms] update frame 20 update ld=1.06247 ad=0.628319 Laser Pose= -6.7898 8.02229 -3.03687 m_count 20 Average Scan Matching Score=798.854 neff= 5.11531 *************RESAMPLE*************** Deleting Nodes: 0 2 5 6 8 9 10 12 13 15 18 19 Done Deleting old particles...Done Copying Particles and Registering scans... Done update frame 21 update ld=0.397946 ad=0.20944 Laser Pose= -7.17674 7.92936 -2.82743 m_count 21 Average Scan Matching Score=1032.64 neff= 15.4769 Registering Scans:Done update frame 22 update ld=0.8 ad=0 Laser Pose= -7.93759 7.68214 -2.82743 m_count 22 Average Scan Matching Score=1035.14 neff= 16.7938 Registering Scans:Done [ INFO] [78.090914617]: === TRAJECTORY TREE ITERATION TIME: 1698 [ms] update frame 23 update ld=2.15 ad=0 Laser Pose= -9.98236 7.01776 -2.82743 m_count 23 Average Scan Matching Score=751.358 neff= 5.45783 *************RESAMPLE*************** Deleting Nodes: 0 1 2 9 10 11 12 17 18 Done Deleting old particles...Done Copying Particles and Registering scans... Done update frame 24 update ld=0.85 ad=0 Laser Pose= -10.7908 6.75509 -2.82743 m_count 24 Average Scan Matching Score=838.72 neff= 15.2216 Registering Scans:Done [ INFO] [82.996300612]: === TRAJECTORY TREE ITERATION TIME: 1202 [ms] update frame 25 update ld=1.55 ad=0 Laser Pose= -12.2649 6.27612 -2.82743 m_count 25 Average Scan Matching Score=670.165 neff= 11.0797 Registering Scans:Done update frame 26 update ld=0.55 ad=0 Laser Pose= -12.788 6.10616 -2.82743 m_count 26 Average Scan Matching Score=948.001 neff= 10.6571 Registering Scans:Done update frame 27 update ld=0.6 ad=0 Laser Pose= -13.3586 5.92075 -2.82743 m_count 27 Average Scan Matching Score=863.695 neff= 11.8677 Registering Scans:Done [ INFO] [88.535154540]: === TRAJECTORY TREE ITERATION TIME: 1443 [ms] update frame 28 update ld=0.903636 ad=0.628319 Laser Pose= -14.0986 5.40218 -2.19911 m_count 28 Average Scan Matching Score=923.601 neff= 11.8019 Registering Scans:Done update frame 29 update ld=0.75 ad=0 Laser Pose= -14.5395 4.79542 -2.19911 m_count 29 Average Scan Matching Score=1018.4 neff= 9.98898 *************RESAMPLE*************** Deleting Nodes: 0 2 4 5 9 10 11 13 15 Done Deleting old particles...Done Copying Particles and Registering scans... Done update frame 30 update ld=0.65 ad=0 Laser Pose= -14.9215 4.26956 -2.19911 m_count 30 Average Scan Matching Score=1026.07 neff= 16.6808 Registering Scans:Done [ INFO] [94.754941483]: === TRAJECTORY TREE ITERATION TIME: 1595 [ms] update frame 31 update ld=1.29684 ad=0.10472 Laser Pose= -15.4868 3.10238 -2.0944 m_count 31 Average Scan Matching Score=744.974 neff= 10.1653 Registering Scans:Done update frame 32 update ld=0.55 ad=0 Laser Pose= -15.7618 2.62606 -2.0944 m_count 32 Average Scan Matching Score=1063.3 neff= 10.1881 Registering Scans:Done update frame 33 update ld=0.6 ad=0.10472 Laser Pose= -16.0058 2.07794 -1.98968 m_count 33 Average Scan Matching Score=1034.54 neff= 7.03379 *************RESAMPLE*************** Deleting Nodes: 2 3 5 10 12 13 15 16 19 Done Deleting old particles...Done Copying Particles and Registering scans... Done [ INFO] [101.288997438]: === TRAJECTORY TREE ITERATION TIME: 1743 [ms] update frame 34 update ld=1.59401 ad=0.209439 Laser Pose= -16.72 0.652849 -2.19911 m_count 34 Average Scan Matching Score=930.877 neff= 11.3966 Registering Scans:Done update frame 35 update ld=0.8 ad=0 Laser Pose= -17.1902 0.00563538 -2.19911 m_count 35 Average Scan Matching Score=1061.05 neff= 11.2843 Registering Scans:Done [ INFO] [106.594184406]: === TRAJECTORY TREE ITERATION TIME: 1814 [ms] update frame 36 update ld=1.64821 ad=0.10472 Laser Pose= -18.1205 -1.3549 -2.0944 m_count 36 Average Scan Matching Score=883.959 neff= 7.21177 *************RESAMPLE*************** Deleting Nodes: 0 1 8 9 10 12 14 16 18 19 Done Deleting old particles...Done Copying Particles and Registering scans... Done update frame 37 update ld=0.399999 ad=0.314159 Laser Pose= -18.2832 -1.72031 -1.78024 m_count 37 Average Scan Matching Score=1045.17 neff= 18.616 Registering Scans:Done [ INFO] [112.590899390]: === TRAJECTORY TREE ITERATION TIME: 2304 [ms] update frame 38 update ld=1.69069 ad=0 Laser Pose= -18.8057 -3.32825 -1.78024 m_count 38 Average Scan Matching Score=267.676 neff= 8.45856 *************RESAMPLE*************** Deleting Nodes: 2 3 5 7 11 12 14 15 16 17 18 Done Deleting old particles...Done Copying Particles and Registering scans... Done update frame 39 update ld=0.65 ad=0 Laser Pose= -18.9408 -3.96405 -1.78024 m_count 39 Average Scan Matching Score=707.614 neff= 6.88858 *************RESAMPLE*************** Deleting Nodes: 0 2 4 5 8 9 11 13 15 16 Done Deleting old particles...Done Copying Particles and Registering scans... Done [ INFO] [119.028992325]: === TRAJECTORY TREE ITERATION TIME: 2676 [ms] update frame 40 update ld=2.39768 ad=0.10472 Laser Pose= -19.383 -6.32061 -1.67552 m_count 40 Average Scan Matching Score=615.21 neff= 7.15963 *************RESAMPLE*************** Deleting Nodes: 0 1 2 3 4 6 8 11 12 13 18 19 Done Deleting old particles...Done Copying Particles and Registering scans... Done [ INFO] [123.652256273]: === TRAJECTORY TREE ITERATION TIME: 2106 [ms] update frame 41 update ld=1.39331 ad=0 Laser Pose= -19.3307 -7.71294 -1.67552 m_count 41 Average Scan Matching Score=805.11 neff= 17.4657 Registering Scans:Done update frame 42 update ld=0.35 ad=0.314159 Laser Pose= -19.3673 -8.06102 -1.98968 m_count 42 Average Scan Matching Score=1035.17 neff= 14.4703 Registering Scans:Done [ INFO] [126.791703251]: === TRAJECTORY TREE ITERATION TIME: 300 [ms] update frame 43 update ld=0 ad=0.10472 Laser Pose= -19.3673 -8.06102 -2.0944 m_count 43 Average Scan Matching Score=1075.64