loudSurfLast : 1120 DEBUG MAPPING laserCloudCornerFromMapNum : 2851 laserCloudSurfFromMapNum : 14 mapping time : 667 3 25438 ALL point: 20064 outliers: 1992 break points: 1189 break feature: 24 normal points: 781 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 23 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 24 laserCloudSurfLast : 1089 DEBUG MAPPING laserCloudCornerFromMapNum : 2859 laserCloudSurfFromMapNum : 14 mapping time : 2165 41 30009 ALL point: 19968 outliers: 1892 break points: 1174 break feature: 15 normal points: 733 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 15 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 15 laserCloudSurfLast : 1158 DEBUG MAPPING laserCloudCornerFromMapNum : 2871 laserCloudSurfFromMapNum : 14 mapping time : 1404 5 25144 ALL point: 32000 outliers: 3447 break points: 1646 break feature: 36 normal points: 1302 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 32 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 36 laserCloudSurfLast : 1892 DEBUG MAPPING laserCloudCornerFromMapNum : 2879 laserCloudSurfFromMapNum : 14 mapping time : 1580 7 37922 ALL point: 20064 outliers: 2142 break points: 1120 break feature: 24 normal points: 768 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 24 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 24 laserCloudSurfLast : 1131 DEBUG MAPPING laserCloudCornerFromMapNum : 2894 laserCloudSurfFromMapNum : 14 mapping time : 1790 5 24612 ALL point: 19872 outliers: 2008 break points: 1056 break feature: 26 normal points: 753 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 25 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 26 laserCloudSurfLast : 1088 DEBUG MAPPING laserCloudCornerFromMapNum : 2906 laserCloudSurfFromMapNum : 14 ALL point: 32000 outliers: 3533 break points: 1627 break feature: 35 normal points: 1334 surf-surf feature: 0 ALL point: 19968 outliers: 2209 break points: 1007 break feature: 26 normal points: 716 surf-surf feature: 0 ALL point: 20064 outliers: 2096 break points: 1030 break feature: 20 normal points: 797 surf-surf feature: 0 ALL point: 20064 outliers: 2188 break points: 992 break feature: 25 normal points: 815 surf-surf feature: 0 ALL point: 19872 outliers: 2485 break points: 931 break feature: 25 normal points: 717 surf-surf feature: 0 ALL point: 32000 outliers: 4227 break points: 1308 break feature: 42 normal points: 1459 surf-surf feature: 0 ALL point: 19968 outliers: 2762 break points: 747 break feature: 26 normal points: 804 surf-surf feature: 0 ALL point: 20064 outliers: 2750 break points: 669 break feature: 25 normal points: 836 surf-surf feature: 0 ALL point: 19968 outliers: 2626 break points: 611 break feature: 32 normal points: 793 surf-surf feature: 0 ALL point: 32000 outliers: 4411 break points: 907 break feature: 46 normal points: 1473 surf-surf feature: 0 ALL point: 19968 outliers: 2853 break points: 524 break feature: 20 normal points: 808 surf-surf feature: 0 mapping time : 1420 5 1431813 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 40 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 46 laserCloudSurfLast : 2136 DEBUG MAPPING laserCloudCornerFromMapNum : 2913 laserCloudSurfFromMapNum : 14 mapping time : 2086 3 18744 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 18 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 20 laserCloudSurfLast : 1274 DEBUG MAPPING laserCloudCornerFromMapNum : 2927 laserCloudSurfFromMapNum : 14 mapping time : 620 1 10656 ALL point: 19968 outliers: 2883 break points: 529 break feature: 23 normal points: 853 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 21 laserCloudSurfLast_down : 3 DEBUG MAPPING laserCloudCornerLast : 23 laserCloudSurfLast : 1342 DEBUG MAPPING laserCloudCornerFromMapNum : 2936 laserCloudSurfFromMapNum : 14 mapping time : 696 2 11597 ALL point: 32000 outliers: 4667 break points: 867 break feature: 42 normal points: 1342 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 41 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 42 laserCloudSurfLast : 2008 DEBUG MAPPING laserCloudCornerFromMapNum : 2944 laserCloudSurfFromMapNum : 15 mapping time : 1780 9 38684 ALL point: 19968 outliers: 2970 break points: 509 break feature: 23 normal points: 798 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 21 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 23 laserCloudSurfLast : 1279 DEBUG MAPPING laserCloudCornerFromMapNum : 2964 laserCloudSurfFromMapNum : 15 mapping time : 1397 5 21475 ALL point: 20064 outliers: 3165 break points: 522 break feature: 25 normal points: 807 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 23 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 25 laserCloudSurfLast : 1240 DEBUG MAPPING laserCloudCornerFromMapNum : 2973 laserCloudSurfFromMapNum : 15 mapping time : 640 2 12892 ALL point: 32000 outliers: 4751 break points: 910 break feature: 43 normal points: 1224 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 38 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 43 laserCloudSurfLast : 1912 DEBUG MAPPING laserCloudCornerFromMapNum : 2978 laserCloudSurfFromMapNum : 15 mapping time : 1510 6 35980 ALL point: 19968 outliers: 2864 break points: 550 break feature: 28 normal points: 799 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 26 laserCloudSurfLast_down : 3 DEBUG MAPPING laserCloudCornerLast : 28 laserCloudSurfLast : 1237 DEBUG MAPPING laserCloudCornerFromMapNum : 2989 laserCloudSurfFromMapNum : 15 mapping time : 1448 7 24507 ALL point: 32000 outliers: 4687 break points: 958 break feature: 40 normal points: 1181 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 36 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 40 laserCloudSurfLast : 1924 DEBUG MAPPING laserCloudCornerFromMapNum : 2998 laserCloudSurfFromMapNum : 15 mapping time : 1858 7 40334 ALL point: 20064 outliers: 2845 break points: 546 break feature: 21 normal points: 892 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 19 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 21 laserCloudSurfLast : 1472 DEBUG MAPPING laserCloudCornerFromMapNum : 3005 laserCloudSurfFromMapNum : 15 mapping time : 3058 60 29702 ALL point: 19968 outliers: 2995 break points: 574 break feature: 23 normal points: 825 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 22 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 23 laserCloudSurfLast : 1362 DEBUG MAPPING laserCloudCornerFromMapNum : 3009 laserCloudSurfFromMapNum : 15 mapping time : 1681 11 25383 ALL point: 19968 outliers: 2832 break points: 603 break feature: 18 normal points: 923 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 17 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 18 laserCloudSurfLast : 1452 DEBUG MAPPING laserCloudCornerFromMapNum : 3012 laserCloudSurfFromMapNum : 15 mapping time : 1565 7 25764 ALL point: 20064 outliers: 2597 break points: 616 break feature: 21 normal points: 942 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 20 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 21 laserCloudSurfLast : 1542 DEBUG MAPPING laserCloudCornerFromMapNum : 3017 laserCloudSurfFromMapNum : 15 mapping time : 2076 5 32266 ALL point: 32000 outliers: 4218 break points: 1040 break feature: 38 normal points: 1240 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 36 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 38 laserCloudSurfLast : 2119 DEBUG MAPPING laserCloudCornerFromMapNum : 3022 laserCloudSurfFromMapNum : 15 mapping time : 2903 8 41466 ALL point: 32000 outliers: 3890 break points: 1157 break feature: 40 normal points: 1242 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 37 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 40 laserCloudSurfLast : 2201 DEBUG MAPPING laserCloudCornerFromMapNum : 3032 laserCloudSurfFromMapNum : 15 mapping time : 1779 10 37745 ALL point: 20352 outliers: 2733 break points: 707 break feature: 26 normal points: 841 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 23 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 26 laserCloudSurfLast : 1272 DEBUG MAPPING laserCloudCornerFromMapNum : 3036 laserCloudSurfFromMapNum : 15 mapping time : 1451 6 25567 ALL point: 20064 outliers: 2548 break points: 717 break feature: 31 normal points: 801 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 29 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 31 laserCloudSurfLast : 1368 DEBUG MAPPING laserCloudCornerFromMapNum : 3038 laserCloudSurfFromMapNum : 15 mapping time : 1738 16 19651 ALL point: 19968 outliers: 2544 break points: 723 break feature: 25 normal points: 841 surf-surf feature: 1 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 25 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 25 laserCloudSurfLast : 1360 DEBUG MAPPING laserCloudCornerFromMapNum : 3041 laserCloudSurfFromMapNum : 15 mapping time : 2961 9 29259 ALL point: 19968 outliers: 2519 break points: 717 break feature: 24 normal points: 823 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 24 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 24 laserCloudSurfLast : 1259 DEBUG MAPPING laserCloudCornerFromMapNum : 3047 laserCloudSurfFromMapNum : 15 mapping time : 2489 7 25249 ALL point: 20064 outliers: 2918 break points: 719 break feature: 25 normal points: 849 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 25 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 25 laserCloudSurfLast : 1314 DEBUG MAPPING laserCloudCornerFromMapNum : 3054 laserCloudSurfFromMapNum : 15 mapping time : 1374 7 24830 ALL point: 19872 outliers: 2590 break points: 698 break feature: 19 normal points: 814 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 17 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 19 laserCloudSurfLast : 1343 DEBUG MAPPING laserCloudCornerFromMapNum : 3059 laserCloudSurfFromMapNum : 15 mapping time : 3417 10 27675 ALL point: 20064 outliers: 2720 break points: 706 break feature: 27 normal points: 825 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 26 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 27 laserCloudSurfLast : 1238 DEBUG MAPPING laserCloudCornerFromMapNum : 3064 laserCloudSurfFromMapNum : 15 mapping time : 2247 11 26109 ALL point: 19968 outliers: 2377 break points: 719 break feature: 30 normal points: 842 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 29 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 30 laserCloudSurfLast : 1350 DEBUG MAPPING laserCloudCornerFromMapNum : 3065 laserCloudSurfFromMapNum : 15 mapping time : 1419 5 25411 ALL point: 32000 outliers: 4651 break points: 1118 break feature: 34 normal points: 1234 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 34 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 34 laserCloudSurfLast : 1989 DEBUG MAPPING laserCloudCornerFromMapNum : 3072 laserCloudSurfFromMapNum : 15 mapping time : 1685 6 55860 ALL point: 32000 outliers: 4334 break points: 1142 break feature: 37 normal points: 1310 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 36 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 37 laserCloudSurfLast : 2133 DEBUG MAPPING laserCloudCornerFromMapNum : 3077 laserCloudSurfFromMapNum : 15 mapping time : 1692 7 39195 ALL point: 32000 outliers: 4372 break points: 1141 break feature: 38 normal points: 1379 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 37 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 38 laserCloudSurfLast : 2066 DEBUG MAPPING laserCloudCornerFromMapNum : 3081 laserCloudSurfFromMapNum : 15 mapping time : 1758 20 46716 ALL point: 32000 outliers: 4244 break points: 1022 break feature: 35 normal points: 1410 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 34 laserCloudSurfLast_down : 2 DEBUG MAPPING laserCloudCornerLast : 35 laserCloudSurfLast : 2186 DEBUG MAPPING laserCloudCornerFromMapNum : 3087 laserCloudSurfFromMapNum : 15 mapping time : 1931 7 35875 ALL point: 19968 outliers: 2811 break points: 656 break feature: 25 normal points: 856 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 24 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 25 laserCloudSurfLast : 1346 DEBUG MAPPING laserCloudCornerFromMapNum : 3089 laserCloudSurfFromMapNum : 15 mapping time : 1560 6 49962 ALL point: 32000 outliers: 4735 break points: 952 break feature: 33 normal points: 1426 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 29 laserCloudSurfLast_down : 3 DEBUG MAPPING laserCloudCornerLast : 33 laserCloudSurfLast : 2121 DEBUG MAPPING laserCloudCornerFromMapNum : 3092 laserCloudSurfFromMapNum : 15 mapping time : 1919 8 39264 ALL point: 32000 outliers: 4781 break points: 939 break feature: 51 normal points: 1346 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 44 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 51 laserCloudSurfLast : 2107 DEBUG MAPPING laserCloudCornerFromMapNum : 3097 laserCloudSurfFromMapNum : 15 ^Cmapping time : 1547 6 62073 ALL point: 19968 outliers: 2987 break points: 626 break feature: 29 normal points: 887 surf-surf feature: 0 DEBUG mapping start DEBUG MAPPING laserCloudCornerLast_down : 26 laserCloudSurfLast_down : 1 DEBUG MAPPING laserCloudCornerLast : 29 laserCloudSurfLast : 1335 DEBUG MAPPING laserCloudCornerFromMapNum : 3106 laserCloudSurfFromMapNum : 15 mapping time : 1037 5 14860 [laserMapping-3] killing on exit [scanRegistration-2] killing on exit [livox_repub-1] killing on exit ALL point: 19968 outliers: 2915 break points: 588 break feature: 20 normal points: 751 surf-surf feature: 0 ALL point: 32000 outliers: 4776 break points: 916 break feature: 43 normal points: 1364 surf-surf feature: 0 ALL point: 19104 outliers: 2654 break points: 672 break feature: 23 normal points: 799 surf-surf feature: 0 ALL point: 32000 outliers: 4333 break points: 1001 break feature: 44 normal points: 1405 surf-surf feature: 0 ALL point: 32000 outliers: 4381 break points: 1023 break feature: 41 normal points: 1378 surf-surf feature: 0 ALL point: 19968 outliers: 2791 break points: 702 break feature: 26 normal points: 763 surf-surf feature: 0 ALL point: 32000 outliers: 4414 break points: 1070 break feature: 42 normal points: 1387 surf-surf feature: 0 ALL point: 19968 outliers: 2655 break points: 693 break feature: 23 normal points: 811 surf-surf feature: 0 ALL point: 19968 outliers: 2386 break points: 698 break feature: 26 normal points: 861 surf-surf feature: 0 ALL point: 32000 outliers: 4122 break points: 1073 break feature: 43 normal points: 1400 surf-surf feature: 0 ALL point: 20064 outliers: 2539 break points: 700 break feature: 29 normal points: 905 surf-surf feature: 0 ALL point: 32000 outliers: 3893 break points: 1087 break feature: 40 normal points: 1424 surf-surf feature: 0 ALL point: 20064 outliers: 2430 break points: 723 break feature: 18 normal points: 766 surf-surf feature: 0 ALL point: 19968 outliers: 2695 break points: 682 break feature: 19 normal points: 834 surf-surf feature: 0 ALL point: 32000 outliers: 3758 break points: 1135 break feature: 37 normal points: 1475 surf-surf feature: 0 ALL point: 20064 outliers: 2456 break points: 714 break feature: 23 normal points: 823 surf-surf feature: 0 ALL point: 32000 outliers: 4190 break points: 1118 break feature: 42 normal points: 1371 surf-surf feature: 1 ALL point: 32000 outliers: 4103 break points: 1176 break feature: 42 normal points: 1296 surf-surf feature: 0 ALL point: 20256 outliers: 2860 break points: 705 break feature: 25 normal points: 824 surf-surf feature: 0 saving...ALL point: 32000 outliers: 3966 break points: 1198 break feature: 44 normal points: 1244 surf-surf feature: 0 ALL point: 19968 outliers: 2559 break points: 673 break feature: 27 normal points: 853 surf-surf feature: 0 ALL point: 32000 outliers: 4088 break points: 1163 break feature: 36 normal points: 1206 surf-surf feature: 0 shutting down processing monitor... ... shutting down processing monitor complete done