`run server python script
dpkg-query: no packages found matching nvidia-l4t-core
Running on board: v2.3.0-x86_64-x86_64-20.04
2025-08-17 01:23:00,962[13008:13008][module_manager.py: 47] pipeline: Source connect to SLAM
2025-08-17 01:23:00,963[13008:13008][module_manager.py: 47] pipeline: SLAM connect to Sink
2025-08-17 01:23:00,963[13008:13008][module_manager.py: 71] start to setup module: SLAM
2025-08-17 01:23:00,963[13008:13008][ slam.py: 14] init SLAM
2025-08-17 01:23:00,964[13008:13014][ slam.py: 51] self.sensor_input: ['0-Livox-Mid-360', 'IMU']
2025-08-17 01:23:00.964[13008:13014][localization.cpp:13] Localization: release static resources
2025-08-17 01:23:00.964[13008:13014][hdl_graph_slam_nodelet.cpp:113] releasing hdl graph nodelet...
2025-08-17 01:23:00.966[13008:13014][slam_wrapper.cpp:13] init slam
2025-08-17 01:23:00,964[13008:13008][module_manager.py: 73] setup module: SLAM, done
2025-08-17 01:23:00,966[13008:13014][ slam.py: 56] SLAM use sensors: ['IMU', '0-Livox-Mid-360']
2025-08-17 01:23:00,966[13008:13008][module_manager.py: 71] start to setup module: Sink
2025-08-17 01:23:00,970[13008:13008][module_manager.py: 73] setup module: Sink, done
2025-08-17 01:23:00,970[13008:13008][module_manager.py: 71] start to setup module: Source
2025-08-17 01:23:00,970[13008:13008][source_manager.py: 31] Source, start to setup: lidar
2025-08-17 01:23:00.973[13008:13008][lidar_driver_wrapper.cpp:34] lidar 0:Livox-Mid-360 open success
2025-08-17 01:23:00.973[13008:13008][lidar_driver_wrapper.cpp:46] set lidar 0:Livox-Mid-360 external parameter [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
2025-08-17 01:23:00.973[13008:13008][lidar_driver_wrapper.cpp:58] set lidar 0:Livox-Mid-360 range filter [-72.0, -72.0, -2.0, 72.0, 72.0, 4.0]
2025-08-17 01:23:00.973[13008:13008][lidar_driver_wrapper.cpp:70] set lidar 0:Livox-Mid-360 exclude [-0.5, -0.5, 0.0, 0.5, 0.5, 0.0]
2025-08-17 01:23:00,973[13008:13008][source_manager.py: 34] Source, setup: lidar, done
2025-08-17 01:23:00,973[13008:13008][source_manager.py: 31] Source, start to setup: camera
2025-08-17 01:23:00.978[13008:13014][prefiltering_nodelet.cpp:39] downsample: VOXELGRID 0.2
2025-08-17 01:23:00.978[13008:13014][prefiltering_nodelet.cpp:78] outlier_removal: NONE
2025-08-17 01:23:00.978[13008:13014][hdl_graph_slam_nodelet.cpp:57] initializing hdl graph nodelet...
2025-08-17 01:23:00.978[13008:13014][graph_slam.cpp:62] construct solver: lm_var
Using CSparse poseDim -1 landMarkDim -1 blockordering 0
2025-08-17 01:23:00.978[13008:13014][loop_detector.hpp:52] initializing loop detection...
2025-08-17 01:23:00.978[13008:13014][registrations.cpp:57] registration: FAST_VGICP
2025-08-17 01:23:00.978[13008:13014][registrations.cpp:34] registration: FAST_GICP
2025-08-17 01:23:00,979[13008:13014][ slam.py: 74] sensor_input: ['IMU', '0-Livox-Mid-360']
2025-08-17 01:23:00.983[13008:13014][SystemUtils.cpp:94] error: mkdir -p output/sparse/images
2025-08-17 01:23:00,991[13008:13008][source_manager.py: 34] Source, setup: camera, done
2025-08-17 01:23:00,992[13008:13008][source_manager.py: 31] Source, start to setup: radar
2025-08-17 01:23:00,992[13008:13008][source_manager.py: 34] Source, setup: radar, done
2025-08-17 01:23:00,992[13008:13008][source_manager.py: 31] Source, start to setup: ins
2025-08-17 01:23:00.992[13008:13008][ins_driver_wrapper.cpp:18] INS open success
2025-08-17 01:23:00.992[13008:13008][ins_driver_wrapper.cpp:29] set INS extrinsic parameter [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
2025-08-17 01:23:00.993[13008:13035][ins_driver.cpp:342] start ins udp receving, port 56401
2025-08-17 01:23:00.993[13008:13036][ins_driver.cpp:391] start ins com receving, device /dev/ttyUSB0
2025-08-17 01:23:00.993[13008:13037][ins_driver.cpp:450] start ins gps receving
2025-08-17 01:23:00.994[13008:13008][ins_driver_wrapper.cpp:34] INS start success
2025-08-17 01:23:00,994[13008:13008][source_manager.py: 34] Source, setup: ins, done
2025-08-17 01:23:00,994[13008:13008][module_manager.py: 73] setup module: Source, done
2025-08-17 01:23:00,995[13008:13042][data_manager_template.py: 53] Lidar: 0-Livox-Mid-360: acquire_loop start
2025-08-17 01:23:00.995[13008:13041][lidar_driver_wrapper.cpp:92] lidar 0:Livox-Mid-360 start success
2025-08-17 01:23:00.995[13008:13044][lidar_driver.cpp:24] start lidar: Livox-Mid-360, receveing, port 56301
2025-08-17 01:23:00,996[13008:13008][ perception.py: 34] start success
2025-08-17 01:23:01,109[13008:13042][data_manager_template.py: 62] Lidar: 0-Livox-Mid-360, acquire FPS: 4.4
2025-08-17 01:23:01,110[13008:13008][ http_sink.py: 92] http query FPS: 3.6
2025-08-17 01:23:01,111[13008:13008][ http_sink.py: 98] http client connect
2025-08-17 01:23:01,111[13008:13041][ slam.py:135] FastLIO, timestamp is not continuous: 1755364981008433 - 0
2025-08-17 01:23:01,112[13008:13048][ http_sink.py: 72] http sink process loop start
2025-08-17 01:23:01,209[13008:13042][data_manager_template.py: 62] Lidar: 0-Livox-Mid-360, acquire FPS: 7.2
2025-08-17 01:23:01.212[13008:13018][IMU_Processing.hpp:207] FastLIO IMU init mean acc 0.9932050504065438, gyr 0.011840968286636493
2025-08-17 01:23:01.212[13008:13018][laserMapping.cpp:1195] FastLio undistort points is empty
2025-08-17 01:23:01.311[13008:13018][IMU_Processing.hpp:207] FastLIO IMU init mean acc 0.993650345283215, gyr 0.012002878273848595
2025-08-17 01:23:01.311[13008:13018][laserMapping.cpp:1195] FastLio undistort points is empty
2025-08-17 01:23:01.411[13008:13018][IMU_Processing.hpp:207] FastLIO IMU init mean acc 0.993732793899158, gyr 0.01174678082136647
2025-08-17 01:23:01.411[13008:13018][laserMapping.cpp:1195] FastLio undistort points is empty
2025-08-17 01:23:01.510[13008:13018][IMU_Processing.hpp:207] FastLIO IMU init mean acc 0.993685285590841, gyr 0.011754514880537225
2025-08-17 01:23:01.510[13008:13018][laserMapping.cpp:1195] FastLio undistort points is empty
2025-08-17 01:23:01.611[13008:13018][IMU_Processing.hpp:207] FastLIO IMU init mean acc 0.9938326575197847, gyr 0.011782451428298327
2025-08-17 01:23:01.611[13008:13018][IMU_Processing.hpp:433] IMU Initial Done: Gravity: -1.0091 -1.1321 -9.6911 0.9938; Velocity: 0.0000 0.0000 0.0000
2025-08-17 01:23:01.611[13008:13018][laserMapping.cpp:1195] FastLio undistort points is empty
2025-08-17 01:23:01.819[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:01.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:01,998[13008:13043][module_manager.py:116] system status Running, running thread/process information:
2025-08-17 01:23:01,999[13008:13043][module_manager.py:120] Thread 13008:Perception daemon False ident 0x7601f65b90c0
2025-08-17 01:23:01,999[13008:13043][module_manager.py:120] Thread 13014:FastLIO daemon True ident 0x7601d2f5f700
2025-08-17 01:23:01,999[13008:13043][module_manager.py:120] Thread 13040:SLAM daemon True ident 0x7601c17fa700
2025-08-17 01:23:01,999[13008:13043][module_manager.py:120] Thread 13041:Source daemon True ident 0x7601c0ff9700
2025-08-17 01:23:01,999[13008:13043][module_manager.py:120] Thread 13042:Py-L0-Livox-Mid-360 daemon True ident 0x7601a3fff700
2025-08-17 01:23:02,000[13008:13043][module_manager.py:120] Thread 13045:zerorpc daemon True ident 0x7601a2ffd700
2025-08-17 01:23:02,000[13008:13043][module_manager.py:120] Thread 13048:HttpSink daemon True ident 0x7601a17fa700
2025-08-17 01:23:02,000[13008:13043][module_manager.py:120] Thread 13049:Thread-6 daemon True ident 0x7601a0ff9700
2025-08-17 01:23:02.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.314[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.614[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.311[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.113[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.713[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.113[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.611[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.611[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.113[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.211[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.315[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score 0.0, best score 0.27063010533128035, inlier ratio 0.9280303, dx 6.040407, da 16.099638
2025-08-17 01:23:08.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.811[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.317[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score 0.27063010533128035, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 6.563705, da 2.60037
2025-08-17 01:23:09.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.985[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 1 ms
2025-08-17 01:23:09.985[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:10.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.111[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.115[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score 8.988465674311579e+307, best score 0.3858309892317784, inlier ratio 0.43949044, dx 6.896534, da 3.6083918
2025-08-17 01:23:10.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.711[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.714[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score 5.992310449541053e+307, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 6.058621, da 1.1571693
2025-08-17 01:23:10.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.211[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.314[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3372016190295726, inlier ratio 0.5771195, dx 6.784907, da 4.1311336
2025-08-17 01:23:11.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.711[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.815[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 6.2237854, da 2.7508583
2025-08-17 01:23:11.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12,102[13008:13043][module_manager.py:137] Process 13008:Perception CPU 0.0%, Mem 238 MB
2025-08-17 01:23:12.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.317[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3075818469828924, inlier ratio 0.4690583, dx 6.7568917, da 3.0943522
2025-08-17 01:23:12.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.816[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 7.294511, da 4.1205935
2025-08-17 01:23:12.894[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 7 ms
2025-08-17 01:23:12.894[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:12.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.215[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.33083865373616966, inlier ratio 0.36572438, dx 6.240377, da 2.635018
2025-08-17 01:23:13.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.414[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.616[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.9801277220249176, inlier ratio 0.0018083183, dx 6.5919566, da 2.0271568
2025-08-17 01:23:13.714[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.016[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 6.93457, da 3.4011486
2025-08-17 01:23:14.113[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.411[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.415[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.45460966837527605, inlier ratio 0.26634148, dx 7.26075, da 5.226353
2025-08-17 01:23:14.511[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.713[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.816[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 7.5795965, da 1.339754
2025-08-17 01:23:14.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.216[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.46674915795498917, inlier ratio 0.19223484, dx 7.905411, da 4.57766
2025-08-17 01:23:15.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.515[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.8081190969262805, inlier ratio 0.013552759, dx 6.1844444, da 2.9443374
2025-08-17 01:23:15.614[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.807[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 10 ms
2025-08-17 01:23:15.807[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:15.807[13008:13020][graph_slam.cpp:350] --- pose graph optimization ---
2025-08-17 01:23:15.807[13008:13020][graph_slam.cpp:351] nodes: 15, edges: 14
2025-08-17 01:23:15.807[13008:13020][graph_slam.cpp:369] Graph: pose optimization costs 0 ms
2025-08-17 01:23:15.807[13008:13020][graph_slam.cpp:370] iterations: 1 / 1024
2025-08-17 01:23:15.807[13008:13020][graph_slam.cpp:371] chi2: (before) 855.1876009012828 -> (after) 4.296442650166879e-29
2025-08-17 01:23:15.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.816[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.6373329129483964, inlier ratio 0.008403362, dx 6.346495, da 3.0987716
2025-08-17 01:23:15.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.115[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.6406092856611524, inlier ratio 0.006227758, dx 6.5982475, da 7.5667114
2025-08-17 01:23:16.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.416[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.5326906964182854, inlier ratio 0.0037071363, dx 6.768296, da 3.0544057
2025-08-17 01:23:16.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.716[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.5071158334612846, inlier ratio 0.003533569, dx 6.9344945, da 2.342061
2025-08-17 01:23:16.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.016[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.8105883598327637, inlier ratio 0.0008756567, dx 7.163061, da 5.2279367
2025-08-17 01:23:17.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.211[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.311[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.316[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.6632638499140739, inlier ratio 0.0033812341, dx 7.34872, da 3.6996193
2025-08-17 01:23:17.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.616[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.7999922434488932, inlier ratio 0.005226481, dx 7.539196, da 1.695891
2025-08-17 01:23:17.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.811[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.911[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.915[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 7.724642, da 2.873263
2025-08-17 01:23:18.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.113[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.216[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.31124120607982714, inlier ratio 0.5418464, dx 7.93011, da 1.2581179
2025-08-17 01:23:18.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.516[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 8.136309, da 3.242069
2025-08-17 01:23:18.614[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.723[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 13 ms
2025-08-17 01:23:18.723[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:18.723[13008:13020][graph_slam.cpp:350] --- pose graph optimization ---
2025-08-17 01:23:18.723[13008:13020][graph_slam.cpp:351] nodes: 25, edges: 24
2025-08-17 01:23:18.724[13008:13020][graph_slam.cpp:369] Graph: pose optimization costs 0 ms
2025-08-17 01:23:18.724[13008:13020][graph_slam.cpp:370] iterations: 9 / 1024
2025-08-17 01:23:18.724[13008:13020][graph_slam.cpp:371] chi2: (before) 4598.271382085632 -> (after) 1.0178576378758503e-28
2025-08-17 01:23:18.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.816[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.31136419261744974, inlier ratio 0.49271637, dx 8.341089, da 1.0085778
2025-08-17 01:23:18.911[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.115[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 8.549398, da 4.425422
2025-08-17 01:23:19.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.416[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3050354555617372, inlier ratio 0.46632996, dx 8.8215885, da 4.7407374
2025-08-17 01:23:19.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.611[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.716[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 9.036935, da 3.3841999
2025-08-17 01:23:19.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.917[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3071767989526466, inlier ratio 0.3386421, dx 6.269408, da 5.705293
2025-08-17 01:23:20.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.116[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.38079529100408155, inlier ratio 0.018706158, dx 6.3849573, da 4.7792754
2025-08-17 01:23:20.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.317[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4823421485722065, inlier ratio 0.01616815, dx 6.654013, da 2.7039087
2025-08-17 01:23:20.411[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.511[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.515[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.5212171866613275, inlier ratio 0.013396375, dx 6.8025036, da 5.9459553
2025-08-17 01:23:20.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.713[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.717[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.8346968378339495, inlier ratio 0.00531511, dx 7.0739455, da 4.5127587
2025-08-17 01:23:20.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.916[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 7.32158, da 2.9508927
2025-08-17 01:23:21.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.116[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.23213286840991493, inlier ratio 0.30235988, dx 7.6275067, da 4.412481
2025-08-17 01:23:21.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.317[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 7.857626, da 6.2530427
2025-08-17 01:23:21.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.511[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.515[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.19993452090067618, inlier ratio 0.33240613, dx 8.210393, da 3.3518384
2025-08-17 01:23:21.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.643[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 17 ms
2025-08-17 01:23:21.643[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:21.643[13008:13020][graph_slam.cpp:350] --- pose graph optimization ---
2025-08-17 01:23:21.643[13008:13020][graph_slam.cpp:351] nodes: 38, edges: 37
2025-08-17 01:23:21.644[13008:13020][graph_slam.cpp:369] Graph: pose optimization costs 0 ms
2025-08-17 01:23:21.644[13008:13020][graph_slam.cpp:370] iterations: 2 / 1024
2025-08-17 01:23:21.644[13008:13020][graph_slam.cpp:371] chi2: (before) 6.166291041507577e-08 -> (after) 6.775352219283458e-28
2025-08-17 01:23:21.713[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.717[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 8.577134, da 2.1441808
2025-08-17 01:23:21.811[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.917[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.2033306604775195, inlier ratio 0.32611638, dx 8.869715, da 3.265982
2025-08-17 01:23:22.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.117[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 9.162178, da 3.1395338
2025-08-17 01:23:22,204[13008:13043][module_manager.py:137] Process 13008:Perception CPU 47.0%, Mem 249 MB
2025-08-17 01:23:22.211[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.316[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.1774845438822287, inlier ratio 0.34299517, dx 9.52602, da 3.977364
2025-08-17 01:23:22.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.517[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 9.916089, da 1.794704
2025-08-17 01:23:22.611[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.717[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.20698906683139692, inlier ratio 0.34628975, dx 10.1357155, da 4.3168364
2025-08-17 01:23:22.811[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.918[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 10.527072, da 3.1112623
2025-08-17 01:23:23.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.115[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.20719024710059683, inlier ratio 0.36, dx 10.706131, da 5.9444585
2025-08-17 01:23:23.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.317[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 11.083492, da 2.1135573
2025-08-17 01:23:23.411[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.515[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.22124709446771357, inlier ratio 0.35709193, dx 11.293367, da 3.4162028
2025-08-17 01:23:23.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.711[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.715[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 11.526839, da 6.046318
2025-08-17 01:23:23.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.917[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.39842559500338387, inlier ratio 0.34863064, dx 11.703193, da 2.4305375
2025-08-17 01:23:24.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.016[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 6.0119658, da 1.7877581
2025-08-17 01:23:24.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.120[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.41656007559319574, inlier ratio 0.27753305, dx 6.013782, da 2.0339484
2025-08-17 01:23:24.214[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.218[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4321773058864512, inlier ratio 0.29721594, dx 6.013845, da 1.4938747
2025-08-17 01:23:24.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.316[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.46438299550694256, inlier ratio 0.2857143, dx 6.171058, da 3.009499
2025-08-17 01:23:24.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.417[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4888558801572282, inlier ratio 0.2719697, dx 6.1656013, da 2.3173459
2025-08-17 01:23:24.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.516[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.48541347014872177, inlier ratio 0.232765, dx 6.1576524, da 2.9479313
2025-08-17 01:23:24.577[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 31 ms
2025-08-17 01:23:24.577[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:24.577[13008:13020][graph_slam.cpp:350] --- pose graph optimization ---
2025-08-17 01:23:24.578[13008:13020][graph_slam.cpp:351] nodes: 56, edges: 55
2025-08-17 01:23:24.579[13008:13020][graph_slam.cpp:369] Graph: pose optimization costs 1 ms
2025-08-17 01:23:24.579[13008:13020][graph_slam.cpp:370] iterations: 7 / 1024
2025-08-17 01:23:24.579[13008:13020][graph_slam.cpp:371] chi2: (before) 38319624.88825521 -> (after) 1.977422655319401e-27
2025-08-17 01:23:24.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.616[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.5046486778167417, inlier ratio 0.23693892, dx 6.303916, da 2.6739106
2025-08-17 01:23:24.713[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.717[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4804150015707054, inlier ratio 0.22875817, dx 6.294877, da 1.0875013
2025-08-17 01:23:24.811[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.815[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4608063233645029, inlier ratio 0.25837988, dx 6.2825985, da 2.7861712
2025-08-17 01:23:24.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.916[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.43894792880008576, inlier ratio 0.24788135, dx 6.365925, da 3.4017267
2025-08-17 01:23:25.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.018[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.47366200365336136, inlier ratio 0.24056605, dx 6.466869, da 1.5125979
2025-08-17 01:23:25.111[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.114[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.48074594284583516, inlier ratio 0.2191592, dx 6.4371753, da 5.0497975
2025-08-17 01:23:25.211[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.216[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.43267749285406665, inlier ratio 0.20694445, dx 6.4171124, da 0.55614096
2025-08-17 01:23:25.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.316[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.42653236486507157, inlier ratio 0.1932299, dx 6.550297, da 2.0773711
2025-08-17 01:23:25.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.416[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.39936157344152023, inlier ratio 0.18758434, dx 6.5290127, da 1.6832614
2025-08-17 01:23:25.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.517[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3981410127654485, inlier ratio 0.21788837, dx 6.561982, da 1.5406915
2025-08-17 01:23:25.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.616[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4000016325801964, inlier ratio 0.23221216, dx 6.584003, da 3.4911823
2025-08-17 01:23:25.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.716[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3766538824295932, inlier ratio 0.22265123, dx 6.6044116, da 2.4887545`
`run server python script
dpkg-query: no packages found matching nvidia-l4t-core
Running on board: v2.3.0-x86_64-x86_64-20.04
2025-08-17 01:23:00,962[13008:13008][module_manager.py: 47] pipeline: Source connect to SLAM
2025-08-17 01:23:00,963[13008:13008][module_manager.py: 47] pipeline: SLAM connect to Sink
2025-08-17 01:23:00,963[13008:13008][module_manager.py: 71] start to setup module: SLAM
2025-08-17 01:23:00,963[13008:13008][ slam.py: 14] init SLAM
2025-08-17 01:23:00,964[13008:13014][ slam.py: 51] self.sensor_input: ['0-Livox-Mid-360', 'IMU']
2025-08-17 01:23:00.964[13008:13014][localization.cpp:13] Localization: release static resources
2025-08-17 01:23:00.964[13008:13014][hdl_graph_slam_nodelet.cpp:113] releasing hdl graph nodelet...
2025-08-17 01:23:00.966[13008:13014][slam_wrapper.cpp:13] init slam
2025-08-17 01:23:00,964[13008:13008][module_manager.py: 73] setup module: SLAM, done
2025-08-17 01:23:00,966[13008:13014][ slam.py: 56] SLAM use sensors: ['IMU', '0-Livox-Mid-360']
2025-08-17 01:23:00,966[13008:13008][module_manager.py: 71] start to setup module: Sink
2025-08-17 01:23:00,970[13008:13008][module_manager.py: 73] setup module: Sink, done
2025-08-17 01:23:00,970[13008:13008][module_manager.py: 71] start to setup module: Source
2025-08-17 01:23:00,970[13008:13008][source_manager.py: 31] Source, start to setup: lidar
2025-08-17 01:23:00.973[13008:13008][lidar_driver_wrapper.cpp:34] lidar 0:Livox-Mid-360 open success
2025-08-17 01:23:00.973[13008:13008][lidar_driver_wrapper.cpp:46] set lidar 0:Livox-Mid-360 external parameter [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
2025-08-17 01:23:00.973[13008:13008][lidar_driver_wrapper.cpp:58] set lidar 0:Livox-Mid-360 range filter [-72.0, -72.0, -2.0, 72.0, 72.0, 4.0]
2025-08-17 01:23:00.973[13008:13008][lidar_driver_wrapper.cpp:70] set lidar 0:Livox-Mid-360 exclude [-0.5, -0.5, 0.0, 0.5, 0.5, 0.0]
2025-08-17 01:23:00,973[13008:13008][source_manager.py: 34] Source, setup: lidar, done
2025-08-17 01:23:00,973[13008:13008][source_manager.py: 31] Source, start to setup: camera
2025-08-17 01:23:00.978[13008:13014][prefiltering_nodelet.cpp:39] downsample: VOXELGRID 0.2
2025-08-17 01:23:00.978[13008:13014][prefiltering_nodelet.cpp:78] outlier_removal: NONE
2025-08-17 01:23:00.978[13008:13014][hdl_graph_slam_nodelet.cpp:57] initializing hdl graph nodelet...
2025-08-17 01:23:00.978[13008:13014][graph_slam.cpp:62] construct solver: lm_var
Using CSparse poseDim -1 landMarkDim -1 blockordering 0
2025-08-17 01:23:00.978[13008:13014][loop_detector.hpp:52] initializing loop detection...
2025-08-17 01:23:00.978[13008:13014][registrations.cpp:57] registration: FAST_VGICP
2025-08-17 01:23:00.978[13008:13014][registrations.cpp:34] registration: FAST_GICP
2025-08-17 01:23:00,979[13008:13014][ slam.py: 74] sensor_input: ['IMU', '0-Livox-Mid-360']
2025-08-17 01:23:00.983[13008:13014][SystemUtils.cpp:94] error: mkdir -p output/sparse/images
2025-08-17 01:23:00,991[13008:13008][source_manager.py: 34] Source, setup: camera, done
2025-08-17 01:23:00,992[13008:13008][source_manager.py: 31] Source, start to setup: radar
2025-08-17 01:23:00,992[13008:13008][source_manager.py: 34] Source, setup: radar, done
2025-08-17 01:23:00,992[13008:13008][source_manager.py: 31] Source, start to setup: ins
2025-08-17 01:23:00.992[13008:13008][ins_driver_wrapper.cpp:18] INS open success
2025-08-17 01:23:00.992[13008:13008][ins_driver_wrapper.cpp:29] set INS extrinsic parameter [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
2025-08-17 01:23:00.993[13008:13035][ins_driver.cpp:342] start ins udp receving, port 56401
2025-08-17 01:23:00.993[13008:13036][ins_driver.cpp:391] start ins com receving, device /dev/ttyUSB0
2025-08-17 01:23:00.993[13008:13037][ins_driver.cpp:450] start ins gps receving
2025-08-17 01:23:00.994[13008:13008][ins_driver_wrapper.cpp:34] INS start success
2025-08-17 01:23:00,994[13008:13008][source_manager.py: 34] Source, setup: ins, done
2025-08-17 01:23:00,994[13008:13008][module_manager.py: 73] setup module: Source, done
2025-08-17 01:23:00,995[13008:13042][data_manager_template.py: 53] Lidar: 0-Livox-Mid-360: acquire_loop start
2025-08-17 01:23:00.995[13008:13041][lidar_driver_wrapper.cpp:92] lidar 0:Livox-Mid-360 start success
2025-08-17 01:23:00.995[13008:13044][lidar_driver.cpp:24] start lidar: Livox-Mid-360, receveing, port 56301
2025-08-17 01:23:00,996[13008:13008][ perception.py: 34] start success
2025-08-17 01:23:01,109[13008:13042][data_manager_template.py: 62] Lidar: 0-Livox-Mid-360, acquire FPS: 4.4
2025-08-17 01:23:01,110[13008:13008][ http_sink.py: 92] http query FPS: 3.6
2025-08-17 01:23:01,111[13008:13008][ http_sink.py: 98] http client connect
2025-08-17 01:23:01,111[13008:13041][ slam.py:135] FastLIO, timestamp is not continuous: 1755364981008433 - 0
2025-08-17 01:23:01,112[13008:13048][ http_sink.py: 72] http sink process loop start
2025-08-17 01:23:01,209[13008:13042][data_manager_template.py: 62] Lidar: 0-Livox-Mid-360, acquire FPS: 7.2
2025-08-17 01:23:01.212[13008:13018][IMU_Processing.hpp:207] FastLIO IMU init mean acc 0.9932050504065438, gyr 0.011840968286636493
2025-08-17 01:23:01.212[13008:13018][laserMapping.cpp:1195] FastLio undistort points is empty
2025-08-17 01:23:01.311[13008:13018][IMU_Processing.hpp:207] FastLIO IMU init mean acc 0.993650345283215, gyr 0.012002878273848595
2025-08-17 01:23:01.311[13008:13018][laserMapping.cpp:1195] FastLio undistort points is empty
2025-08-17 01:23:01.411[13008:13018][IMU_Processing.hpp:207] FastLIO IMU init mean acc 0.993732793899158, gyr 0.01174678082136647
2025-08-17 01:23:01.411[13008:13018][laserMapping.cpp:1195] FastLio undistort points is empty
2025-08-17 01:23:01.510[13008:13018][IMU_Processing.hpp:207] FastLIO IMU init mean acc 0.993685285590841, gyr 0.011754514880537225
2025-08-17 01:23:01.510[13008:13018][laserMapping.cpp:1195] FastLio undistort points is empty
2025-08-17 01:23:01.611[13008:13018][IMU_Processing.hpp:207] FastLIO IMU init mean acc 0.9938326575197847, gyr 0.011782451428298327
2025-08-17 01:23:01.611[13008:13018][IMU_Processing.hpp:433] IMU Initial Done: Gravity: -1.0091 -1.1321 -9.6911 0.9938; Velocity: 0.0000 0.0000 0.0000
2025-08-17 01:23:01.611[13008:13018][laserMapping.cpp:1195] FastLio undistort points is empty
2025-08-17 01:23:01.819[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:01.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:01,998[13008:13043][module_manager.py:116] system status Running, running thread/process information:
2025-08-17 01:23:01,999[13008:13043][module_manager.py:120] Thread 13008:Perception daemon False ident 0x7601f65b90c0
2025-08-17 01:23:01,999[13008:13043][module_manager.py:120] Thread 13014:FastLIO daemon True ident 0x7601d2f5f700
2025-08-17 01:23:01,999[13008:13043][module_manager.py:120] Thread 13040:SLAM daemon True ident 0x7601c17fa700
2025-08-17 01:23:01,999[13008:13043][module_manager.py:120] Thread 13041:Source daemon True ident 0x7601c0ff9700
2025-08-17 01:23:01,999[13008:13043][module_manager.py:120] Thread 13042:Py-L0-Livox-Mid-360 daemon True ident 0x7601a3fff700
2025-08-17 01:23:02,000[13008:13043][module_manager.py:120] Thread 13045:zerorpc daemon True ident 0x7601a2ffd700
2025-08-17 01:23:02,000[13008:13043][module_manager.py:120] Thread 13048:HttpSink daemon True ident 0x7601a17fa700
2025-08-17 01:23:02,000[13008:13043][module_manager.py:120] Thread 13049:Thread-6 daemon True ident 0x7601a0ff9700
2025-08-17 01:23:02.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.314[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.614[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:02.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.311[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:03.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.113[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.713[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:04.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:05.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.113[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.611[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:06.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.611[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:07.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.113[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.211[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.315[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score 0.0, best score 0.27063010533128035, inlier ratio 0.9280303, dx 6.040407, da 16.099638
2025-08-17 01:23:08.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.811[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:08.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.317[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score 0.27063010533128035, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 6.563705, da 2.60037
2025-08-17 01:23:09.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:09.985[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 1 ms
2025-08-17 01:23:09.985[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:10.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.111[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.115[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score 8.988465674311579e+307, best score 0.3858309892317784, inlier ratio 0.43949044, dx 6.896534, da 3.6083918
2025-08-17 01:23:10.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.711[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.714[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score 5.992310449541053e+307, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 6.058621, da 1.1571693
2025-08-17 01:23:10.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:10.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.211[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.314[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3372016190295726, inlier ratio 0.5771195, dx 6.784907, da 4.1311336
2025-08-17 01:23:11.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.711[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:11.815[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 6.2237854, da 2.7508583
2025-08-17 01:23:11.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12,102[13008:13043][module_manager.py:137] Process 13008:Perception CPU 0.0%, Mem 238 MB
2025-08-17 01:23:12.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.317[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3075818469828924, inlier ratio 0.4690583, dx 6.7568917, da 3.0943522
2025-08-17 01:23:12.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:12.816[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 7.294511, da 4.1205935
2025-08-17 01:23:12.894[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 7 ms
2025-08-17 01:23:12.894[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:12.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.215[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.33083865373616966, inlier ratio 0.36572438, dx 6.240377, da 2.635018
2025-08-17 01:23:13.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.414[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.616[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.9801277220249176, inlier ratio 0.0018083183, dx 6.5919566, da 2.0271568
2025-08-17 01:23:13.714[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:13.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.016[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 6.93457, da 3.4011486
2025-08-17 01:23:14.113[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.411[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.415[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.45460966837527605, inlier ratio 0.26634148, dx 7.26075, da 5.226353
2025-08-17 01:23:14.511[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.713[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:14.816[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 7.5795965, da 1.339754
2025-08-17 01:23:14.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.216[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.46674915795498917, inlier ratio 0.19223484, dx 7.905411, da 4.57766
2025-08-17 01:23:15.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.515[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.8081190969262805, inlier ratio 0.013552759, dx 6.1844444, da 2.9443374
2025-08-17 01:23:15.614[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.807[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 10 ms
2025-08-17 01:23:15.807[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:15.807[13008:13020][graph_slam.cpp:350] --- pose graph optimization ---
2025-08-17 01:23:15.807[13008:13020][graph_slam.cpp:351] nodes: 15, edges: 14
2025-08-17 01:23:15.807[13008:13020][graph_slam.cpp:369] Graph: pose optimization costs 0 ms
2025-08-17 01:23:15.807[13008:13020][graph_slam.cpp:370] iterations: 1 / 1024
2025-08-17 01:23:15.807[13008:13020][graph_slam.cpp:371] chi2: (before) 855.1876009012828 -> (after) 4.296442650166879e-29
2025-08-17 01:23:15.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:15.816[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.6373329129483964, inlier ratio 0.008403362, dx 6.346495, da 3.0987716
2025-08-17 01:23:15.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.115[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.6406092856611524, inlier ratio 0.006227758, dx 6.5982475, da 7.5667114
2025-08-17 01:23:16.213[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.416[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.5326906964182854, inlier ratio 0.0037071363, dx 6.768296, da 3.0544057
2025-08-17 01:23:16.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.613[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.716[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.5071158334612846, inlier ratio 0.003533569, dx 6.9344945, da 2.342061
2025-08-17 01:23:16.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:16.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.016[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.8105883598327637, inlier ratio 0.0008756567, dx 7.163061, da 5.2279367
2025-08-17 01:23:17.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.211[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.311[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.316[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.6632638499140739, inlier ratio 0.0033812341, dx 7.34872, da 3.6996193
2025-08-17 01:23:17.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.616[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.7999922434488932, inlier ratio 0.005226481, dx 7.539196, da 1.695891
2025-08-17 01:23:17.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.811[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.911[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:17.915[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 7.724642, da 2.873263
2025-08-17 01:23:18.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.113[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.216[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.31124120607982714, inlier ratio 0.5418464, dx 7.93011, da 1.2581179
2025-08-17 01:23:18.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.516[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 8.136309, da 3.242069
2025-08-17 01:23:18.614[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.723[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 13 ms
2025-08-17 01:23:18.723[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:18.723[13008:13020][graph_slam.cpp:350] --- pose graph optimization ---
2025-08-17 01:23:18.723[13008:13020][graph_slam.cpp:351] nodes: 25, edges: 24
2025-08-17 01:23:18.724[13008:13020][graph_slam.cpp:369] Graph: pose optimization costs 0 ms
2025-08-17 01:23:18.724[13008:13020][graph_slam.cpp:370] iterations: 9 / 1024
2025-08-17 01:23:18.724[13008:13020][graph_slam.cpp:371] chi2: (before) 4598.271382085632 -> (after) 1.0178576378758503e-28
2025-08-17 01:23:18.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:18.816[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.31136419261744974, inlier ratio 0.49271637, dx 8.341089, da 1.0085778
2025-08-17 01:23:18.911[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.115[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 8.549398, da 4.425422
2025-08-17 01:23:19.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.416[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3050354555617372, inlier ratio 0.46632996, dx 8.8215885, da 4.7407374
2025-08-17 01:23:19.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.611[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.716[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 9.036935, da 3.3841999
2025-08-17 01:23:19.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:19.917[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3071767989526466, inlier ratio 0.3386421, dx 6.269408, da 5.705293
2025-08-17 01:23:20.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.116[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.38079529100408155, inlier ratio 0.018706158, dx 6.3849573, da 4.7792754
2025-08-17 01:23:20.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.317[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4823421485722065, inlier ratio 0.01616815, dx 6.654013, da 2.7039087
2025-08-17 01:23:20.411[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.511[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.515[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.5212171866613275, inlier ratio 0.013396375, dx 6.8025036, da 5.9459553
2025-08-17 01:23:20.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.713[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.717[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.8346968378339495, inlier ratio 0.00531511, dx 7.0739455, da 4.5127587
2025-08-17 01:23:20.813[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:20.916[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 7.32158, da 2.9508927
2025-08-17 01:23:21.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.116[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.23213286840991493, inlier ratio 0.30235988, dx 7.6275067, da 4.412481
2025-08-17 01:23:21.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.317[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 7.857626, da 6.2530427
2025-08-17 01:23:21.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.511[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.515[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.19993452090067618, inlier ratio 0.33240613, dx 8.210393, da 3.3518384
2025-08-17 01:23:21.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.643[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 17 ms
2025-08-17 01:23:21.643[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:21.643[13008:13020][graph_slam.cpp:350] --- pose graph optimization ---
2025-08-17 01:23:21.643[13008:13020][graph_slam.cpp:351] nodes: 38, edges: 37
2025-08-17 01:23:21.644[13008:13020][graph_slam.cpp:369] Graph: pose optimization costs 0 ms
2025-08-17 01:23:21.644[13008:13020][graph_slam.cpp:370] iterations: 2 / 1024
2025-08-17 01:23:21.644[13008:13020][graph_slam.cpp:371] chi2: (before) 6.166291041507577e-08 -> (after) 6.775352219283458e-28
2025-08-17 01:23:21.713[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.717[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 8.577134, da 2.1441808
2025-08-17 01:23:21.811[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:21.917[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.2033306604775195, inlier ratio 0.32611638, dx 8.869715, da 3.265982
2025-08-17 01:23:22.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.117[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 9.162178, da 3.1395338
2025-08-17 01:23:22,204[13008:13043][module_manager.py:137] Process 13008:Perception CPU 47.0%, Mem 249 MB
2025-08-17 01:23:22.211[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.316[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.1774845438822287, inlier ratio 0.34299517, dx 9.52602, da 3.977364
2025-08-17 01:23:22.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.517[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 9.916089, da 1.794704
2025-08-17 01:23:22.611[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.717[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.20698906683139692, inlier ratio 0.34628975, dx 10.1357155, da 4.3168364
2025-08-17 01:23:22.811[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:22.918[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 10.527072, da 3.1112623
2025-08-17 01:23:23.012[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.115[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.20719024710059683, inlier ratio 0.36, dx 10.706131, da 5.9444585
2025-08-17 01:23:23.212[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.313[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.317[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 11.083492, da 2.1135573
2025-08-17 01:23:23.411[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.515[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.22124709446771357, inlier ratio 0.35709193, dx 11.293367, da 3.4162028
2025-08-17 01:23:23.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.711[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.715[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 11.526839, da 6.046318
2025-08-17 01:23:23.812[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.913[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:23.917[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.39842559500338387, inlier ratio 0.34863064, dx 11.703193, da 2.4305375
2025-08-17 01:23:24.011[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.016[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 1.7976931348623157e+308, inlier ratio 0.0, dx 6.0119658, da 1.7877581
2025-08-17 01:23:24.112[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.120[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.41656007559319574, inlier ratio 0.27753305, dx 6.013782, da 2.0339484
2025-08-17 01:23:24.214[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.218[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4321773058864512, inlier ratio 0.29721594, dx 6.013845, da 1.4938747
2025-08-17 01:23:24.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.316[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.46438299550694256, inlier ratio 0.2857143, dx 6.171058, da 3.009499
2025-08-17 01:23:24.413[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.417[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4888558801572282, inlier ratio 0.2719697, dx 6.1656013, da 2.3173459
2025-08-17 01:23:24.512[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.516[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.48541347014872177, inlier ratio 0.232765, dx 6.1576524, da 2.9479313
2025-08-17 01:23:24.577[13008:13020][hdl_graph_slam_nodelet.cpp:341] Graph: flush keyframe queue costs 31 ms
2025-08-17 01:23:24.577[13008:13020][loop_detector.hpp:91] Graph: loop detection costs 0 ms
2025-08-17 01:23:24.577[13008:13020][graph_slam.cpp:350] --- pose graph optimization ---
2025-08-17 01:23:24.578[13008:13020][graph_slam.cpp:351] nodes: 56, edges: 55
2025-08-17 01:23:24.579[13008:13020][graph_slam.cpp:369] Graph: pose optimization costs 1 ms
2025-08-17 01:23:24.579[13008:13020][graph_slam.cpp:370] iterations: 7 / 1024
2025-08-17 01:23:24.579[13008:13020][graph_slam.cpp:371] chi2: (before) 38319624.88825521 -> (after) 1.977422655319401e-27
2025-08-17 01:23:24.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.616[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.5046486778167417, inlier ratio 0.23693892, dx 6.303916, da 2.6739106
2025-08-17 01:23:24.713[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.717[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4804150015707054, inlier ratio 0.22875817, dx 6.294877, da 1.0875013
2025-08-17 01:23:24.811[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.815[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4608063233645029, inlier ratio 0.25837988, dx 6.2825985, da 2.7861712
2025-08-17 01:23:24.912[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:24.916[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.43894792880008576, inlier ratio 0.24788135, dx 6.365925, da 3.4017267
2025-08-17 01:23:25.013[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.018[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.47366200365336136, inlier ratio 0.24056605, dx 6.466869, da 1.5125979
2025-08-17 01:23:25.111[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.114[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.48074594284583516, inlier ratio 0.2191592, dx 6.4371753, da 5.0497975
2025-08-17 01:23:25.211[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.216[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.43267749285406665, inlier ratio 0.20694445, dx 6.4171124, da 0.55614096
2025-08-17 01:23:25.312[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.316[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.42653236486507157, inlier ratio 0.1932299, dx 6.550297, da 2.0773711
2025-08-17 01:23:25.412[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.416[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.39936157344152023, inlier ratio 0.18758434, dx 6.5290127, da 1.6832614
2025-08-17 01:23:25.513[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.517[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3981410127654485, inlier ratio 0.21788837, dx 6.561982, da 1.5406915
2025-08-17 01:23:25.612[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.616[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.4000016325801964, inlier ratio 0.23221216, dx 6.584003, da 3.4911823
2025-08-17 01:23:25.712[13008:13018][laserMapping.cpp:1286] FastLio is degenerate!
2025-08-17 01:23:25.716[13008:13021][hdl_graph_slam_nodelet.cpp:212] map update, average score inf, best score 0.3766538824295932, inlier ratio 0.22265123, dx 6.6044116, da 2.4887545`