[ INFO] [1727343970.856105940]: Processing flag: 592.77 [ INFO] [1727343970.856189819]: Processing pose: Position(3.20, 0.88, -0.04), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00327875 [ INFO] [1727343971.909455546]: send Pose - x: 3.213259, y: 0.762029, z: -0.043853 [ INFO] [1727343972.910442118]: Processing flag: 594.83 [ INFO] [1727343972.910520759]: Processing pose: Position(3.21, 0.76, -0.04), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0205339 [ INFO] [1727343973.972449103]: send Pose - x: 3.232232, y: 0.620596, z: -0.051155 [ INFO] [1727343974.973423274]: Processing flag: 596.88 [ INFO] [1727343974.973499820]: Processing pose: Position(3.23, 0.62, -0.05), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0162708 [ INFO] [1727343976.035985179]: send Pose - x: 3.241274, y: 0.511849, z: -0.056394 [ INFO] [1727343977.036916010]: Processing flag: 598.94 [ INFO] [1727343977.036988924]: Processing pose: Position(3.24, 0.51, -0.06), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00310981 [ INFO] [1727343978.083133974]: send Pose - x: 3.264048, y: 0.345359, z: -0.064887 [ INFO] [1727343979.084130346]: Processing flag: 601.00 [ INFO] [1727343979.084208289]: Processing pose: Position(3.26, 0.35, -0.06), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0117852 [ INFO] [1727343980.159475868]: send Pose - x: 3.275729, y: 0.242132, z: -0.071184 [ INFO] [1727343981.160485541]: Processing flag: 603.07 [ INFO] [1727343981.160563763]: Processing pose: Position(3.28, 0.24, -0.07), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0061569 [ INFO] [1727343982.212175889]: send Pose - x: 3.291460, y: 0.098476, z: -0.078367 [ INFO] [1727343983.213128532]: Processing flag: 605.13 [ INFO] [1727343983.213205637]: Processing pose: Position(3.29, 0.10, -0.08), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000643934 [ INFO] [1727343984.262731505]: send Pose - x: 3.301858, y: -0.054890, z: -0.085973 [ INFO] [1727343985.263595899]: Processing flag: 607.18 [ INFO] [1727343985.264019205]: Processing pose: Position(3.30, -0.05, -0.09), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000510956 [ INFO] [1727343986.313962475]: send Pose - x: 3.326887, y: -0.287972, z: -0.094386 [ INFO] [1727343987.314886194]: Processing flag: 609.23 [ INFO] [1727343987.314961343]: Processing pose: Position(3.33, -0.29, -0.09), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000552931 [ INFO] [1727343988.368556769]: send Pose - x: 3.369076, y: -0.537288, z: -0.091619 [ INFO] [1727343989.369172240]: Processing flag: 611.29 [ INFO] [1727343989.369208627]: Processing pose: Position(3.37, -0.54, -0.09), Orientation(-0.02, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000287186 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.00974973 [ INFO] [1727343990.433070778]: send Pose - x: 3.377089, y: -0.663857, z: -0.119376 [ INFO] [1727343991.433971790]: Processing flag: 613.34 [ INFO] [1727343991.434040933]: Processing pose: Position(3.38, -0.66, -0.12), Orientation(-0.00, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00111955 [ INFO] [1727343992.483045494]: send Pose - x: 3.379284, y: -0.682772, z: -0.116867 [ INFO] [1727343993.484015189]: Processing flag: 615.40 [ INFO] [1727343993.484095087]: Processing pose: Position(3.38, -0.68, -0.12), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00287382 [ INFO] [1727343994.536271508]: send Pose - x: 3.407243, y: -0.891017, z: -0.123420 [ INFO] [1727343995.537156376]: Processing flag: 617.46 [ INFO] [1727343995.537224122]: Processing pose: Position(3.41, -0.89, -0.12), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0115278 [ INFO] [1727343996.596154476]: send Pose - x: 3.408489, y: -0.970919, z: -0.127573 [ INFO] [1727343997.597018561]: Processing flag: 619.51 [ INFO] [1727343997.597057602]: Processing pose: Position(3.41, -0.97, -0.13), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000615928 [ INFO] [1727343998.650364322]: send Pose - x: 3.427473, y: -1.148683, z: -0.137722 [ INFO] [1727343999.651370493]: Processing flag: 621.57 [ INFO] [1727343999.651405903]: Processing pose: Position(3.43, -1.15, -0.14), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0113365 [ INFO] [1727344000.715842374]: send Pose - x: 3.445806, y: -1.313407, z: -0.143396 [ INFO] [1727344001.716806251]: Processing flag: 623.62 [ INFO] [1727344001.716880911]: Processing pose: Position(3.45, -1.31, -0.14), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00852102 [ INFO] [1727344002.786416644]: send Pose - x: 3.448987, y: -1.381602, z: -0.148887 [ INFO] [1727344003.787368049]: Processing flag: 625.70 [ INFO] [1727344003.787442220]: Processing pose: Position(3.45, -1.38, -0.15), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0067838 [ INFO] [1727344004.863264512]: send Pose - x: 3.451953, y: -1.487076, z: -0.152630 [ INFO] [1727344005.864325596]: Processing flag: 627.78 [ INFO] [1727344005.864412478]: Processing pose: Position(3.45, -1.49, -0.15), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00395028 [ INFO] [1727344006.908313136]: send Pose - x: 3.457852, y: -1.676321, z: -0.161610 [ INFO] [1727344007.909042296]: Processing flag: 629.83 [ INFO] [1727344007.909119889]: Processing pose: Position(3.46, -1.68, -0.16), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0130633 [ INFO] [1727344008.971141941]: send Pose - x: 3.457187, y: -1.812853, z: -0.168565 [ INFO] [1727344009.972125211]: Processing flag: 631.88 [ INFO] [1727344009.972200220]: Processing pose: Position(3.46, -1.81, -0.17), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00139584 [ INFO] [1727344011.022857497]: send Pose - x: 3.461599, y: -1.915039, z: -0.173417 [ INFO] [1727344012.023888636]: Processing flag: 633.94 [ INFO] [1727344012.023963995]: Processing pose: Position(3.46, -1.92, -0.17), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00779824 [ INFO] [1727344013.075003192]: send Pose - x: 3.462899, y: -2.044827, z: -0.179654 [ INFO] [1727344014.075712673]: Processing flag: 635.99 [ INFO] [1727344014.075751225]: Processing pose: Position(3.46, -2.04, -0.18), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00169602 [ INFO] [1727344015.132567840]: send Pose - x: 3.458165, y: -2.147723, z: -0.183842 [ INFO] [1727344016.133551825]: Processing flag: 638.05 [ INFO] [1727344016.133635494]: Processing pose: Position(3.46, -2.15, -0.18), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00284567 [ INFO] [1727344017.181438808]: send Pose - x: 3.448546, y: -2.320555, z: -0.191623 [ INFO] [1727344018.182439373]: Processing flag: 640.10 [ INFO] [1727344018.182509773]: Processing pose: Position(3.45, -2.32, -0.19), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0128697 [ INFO] [1727344019.241847918]: send Pose - x: 3.434429, y: -2.442497, z: -0.199579 [ INFO] [1727344020.242761839]: Processing flag: 642.15 [ INFO] [1727344020.242839502]: Processing pose: Position(3.43, -2.44, -0.20), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00212037 [ INFO] [1727344021.287082101]: send Pose - x: 3.407301, y: -2.613564, z: -0.204303 [ INFO] [1727344022.288239516]: Processing flag: 644.21 [ INFO] [1727344022.288385553]: Processing pose: Position(3.41, -2.61, -0.20), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0017227 [ INFO] [1727344023.333511740]: send Pose - x: 3.391388, y: -2.700750, z: -0.206216 [ INFO] [1727344024.334423971]: Processing flag: 646.26 [ INFO] [1727344024.334497164]: Processing pose: Position(3.39, -2.70, -0.21), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00905761 [ INFO] [1727344025.394880010]: send Pose - x: 3.369116, y: -2.801748, z: -0.211462 [ INFO] [1727344026.395589521]: Processing flag: 648.31 [ INFO] [1727344026.395625908]: Processing pose: Position(3.37, -2.80, -0.21), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00720508 [ INFO] [1727344027.443835913]: send Pose - x: 3.353162, y: -2.910210, z: -0.213450 [ INFO] [1727344028.444535743]: Processing flag: 650.36 [ INFO] [1727344028.444571502]: Processing pose: Position(3.35, -2.91, -0.21), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000294171 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.0100721 [ INFO] [1727344029.504953709]: send Pose - x: 3.314343, y: -3.104817, z: -0.218910 [ INFO] [1727344030.505949693]: Processing flag: 652.42 [ INFO] [1727344030.506026448]: Processing pose: Position(3.31, -3.10, -0.22), Orientation(-0.00, 0.02, 0.00, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00163051 [ INFO] [1727344031.552500543]: send Pose - x: 3.319210, y: -3.090349, z: -0.221968 [ INFO] [1727344032.553268244]: Processing flag: 654.47 [ INFO] [1727344032.553316435]: Processing pose: Position(3.32, -3.09, -0.22), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00273113 [ INFO] [1727344033.606844851]: send Pose - x: 3.298133, y: -3.176424, z: -0.219776 [ INFO] [1727344034.607684237]: Processing flag: 656.53 [ INFO] [1727344034.607721462]: Processing pose: Position(3.30, -3.18, -0.22), Orientation(-0.00, 0.03, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00292781 [ INFO] [1727344035.668989340]: send Pose - x: 3.288355, y: -3.238408, z: -0.224653 [ INFO] [1727344036.669922131]: Processing flag: 658.59 [ INFO] [1727344036.670067679]: Processing pose: Position(3.29, -3.24, -0.22), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00476833 [ INFO] [1727344037.720126801]: send Pose - x: 3.269308, y: -3.406450, z: -0.236162 [ INFO] [1727344038.721011707]: Processing flag: 660.64 [ INFO] [1727344038.721088812]: Processing pose: Position(3.27, -3.41, -0.24), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0130812 [ INFO] [1727344039.778730672]: send Pose - x: 3.260342, y: -3.470491, z: -0.235820 [ INFO] [1727344040.779678602]: Processing flag: 662.69 [ INFO] [1727344040.779755847]: Processing pose: Position(3.26, -3.47, -0.24), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000629966 [ INFO] [1727344041.824195406]: send Pose - x: 3.249178, y: -3.608755, z: -0.250599 [ INFO] [1727344042.825044609]: Processing flag: 664.75 [ INFO] [1727344042.825117872]: Processing pose: Position(3.25, -3.61, -0.25), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00341313 [ INFO] [1727344043.872883080]: send Pose - x: 3.223746, y: -3.745585, z: -0.253156 [ INFO] [1727344044.873783363]: Processing flag: 666.79 [ INFO] [1727344044.873871363]: Processing pose: Position(3.22, -3.75, -0.25), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00717058 [ INFO] [1727344045.927328224]: send Pose - x: 3.220843, y: -3.805587, z: -0.257187 [ INFO] [1727344046.928227556]: Processing flag: 668.84 [ INFO] [1727344046.928300330]: Processing pose: Position(3.22, -3.81, -0.26), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000710912 [ INFO] [1727344047.979564211]: send Pose - x: 3.212850, y: -3.868362, z: -0.263997 [ INFO] [1727344048.980403786]: Processing flag: 670.90 [ INFO] [1727344048.980477818]: Processing pose: Position(3.21, -3.87, -0.26), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000482043 [ INFO] [1727344050.029868939]: send Pose - x: 3.148939, y: -4.052387, z: -0.280253 [ INFO] [1727344051.030549164]: Processing flag: 672.95 [ INFO] [1727344051.030657347]: Processing pose: Position(3.15, -4.05, -0.28), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000424982 [ INFO] [1727344052.068748427]: send Pose - x: 3.078617, y: -4.112889, z: -0.287248 [ INFO] [1727344053.069634289]: Processing flag: 674.99 [ INFO] [1727344053.069731299]: Processing pose: Position(3.08, -4.11, -0.29), Orientation(-0.00, 0.02, 0.02, 1.00) [2024-09-26 17:47:34.130] [I] relocalization succeeded 4 全局重定位模型匹配 time耗费：(0.0128978) 9.78e-07 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.00987797 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.00961453 1 速度模型匹配 time耗费：(0.00304362) 0.00333477 [ INFO] [1727344054.271776834]: send Pose - x: 2.874380, y: -3.831466, z: -0.275144 [ INFO] [1727344055.272832020]: Processing flag: 677.19 [ INFO] [1727344055.272913105]: Processing pose: Position(2.87, -3.83, -0.28), Orientation(0.00, 0.02, 0.04, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0197837 [ INFO] [1727344056.337080931]: send Pose - x: 2.832710, y: -3.704485, z: -0.266952 [ INFO] [1727344057.337975439]: Processing flag: 679.24 [ INFO] [1727344057.338047724]: Processing pose: Position(2.83, -3.70, -0.27), Orientation(-0.00, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00125218 [ INFO] [1727344058.390818567]: send Pose - x: 2.788212, y: -3.538171, z: -0.251841 [ INFO] [1727344059.391614974]: Processing flag: 681.31 [ INFO] [1727344059.391668822]: Processing pose: Position(2.79, -3.54, -0.25), Orientation(-0.00, 0.02, 0.01, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00136064 [ INFO] [1727344060.443486362]: send Pose - x: 2.744975, y: -3.401015, z: -0.240452 [ INFO] [1727344061.444313106]: Processing flag: 683.36 [ INFO] [1727344061.444382668]: Processing pose: Position(2.74, -3.40, -0.24), Orientation(-0.00, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000523319 [ INFO] [1727344062.478851789]: send Pose - x: 2.668757, y: -3.158851, z: -0.218211 [ INFO] [1727344063.479481538]: Processing flag: 685.41 [ INFO] [1727344063.479517645]: Processing pose: Position(2.67, -3.16, -0.22), Orientation(-0.00, 0.02, 0.02, 1.00) [2024-09-26 17:47:44.537] [I] relocalization succeeded 4 全局重定位模型匹配 time耗费：(0.0128978) 1.885e-06 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.00950872 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.00864548 1 速度模型匹配 time耗费：(0.00304362) 0.0006021 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.00890578 [ INFO] [1727344064.674916426]: send Pose - x: 2.302565, y: -2.022829, z: -0.148409 [ INFO] [1727344065.675891427]: Processing flag: 687.59 [ INFO] [1727344065.675975376]: Processing pose: Position(2.30, -2.02, -0.15), Orientation(-0.00, 0.02, 0.02, 1.00) [2024-09-26 17:47:46.734] [I] relocalization succeeded 4 全局重定位模型匹配 time耗费：(0.0128978) 1.885e-06 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.0165858 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.0106889 1 速度模型匹配 time耗费：(0.00304362) 0.00196721 [ INFO] [1727344066.884996407]: send Pose - x: 1.693379, y: -0.761792, z: -0.073105 [ INFO] [1727344067.885748853]: Processing flag: 689.81 [ INFO] [1727344067.885825119]: Processing pose: Position(1.69, -0.76, -0.07), Orientation(-0.00, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00236391 [ INFO] [1727344068.944089589]: send Pose - x: 1.561102, y: -0.461821, z: -0.055382 [ INFO] [1727344069.945221576]: Processing flag: 691.86 [ INFO] [1727344069.945296586]: Processing pose: Position(1.56, -0.46, -0.06), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.00235099 [ INFO] [1727344071.000385410]: send Pose - x: 1.412495, y: -0.183790, z: -0.031857 [ INFO] [1727344072.001414338]: Processing flag: 693.92 [ INFO] [1727344072.001492211]: Processing pose: Position(1.41, -0.18, -0.03), Orientation(-0.01, 0.02, 0.02, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000586316 [ INFO] [1727344073.055597142]: send Pose - x: 1.256172, y: 0.112135, z: -0.009714 [ INFO] [1727344074.056523498]: Processing flag: 695.98 [ INFO] [1727344074.056638596]: Processing pose: Position(1.26, 0.11, -0.01), Orientation(-0.01, 0.02, 0.02, 1.00) [2024-09-26 17:47:55.118] [I] relocalization succeeded 4 全局重定位模型匹配 time耗费：(0.0128978) 1.467e-06 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.0093228 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.00991261 1 速度模型匹配 time耗费：(0.00304362) 0.0111346 [ INFO] [1727344075.284512162]: send Pose - x: 0.883380, y: 0.995042, z: 0.035837 [ INFO] [1727344076.285564749]: Processing flag: 698.19 [ INFO] [1727344076.285651631]: Processing pose: Position(0.88, 1.00, 0.04), Orientation(-0.00, 0.01, 0.03, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000572976 [ INFO] [1727344077.340305289]: send Pose - x: 0.827906, y: 1.165262, z: 0.043331 [ INFO] [1727344078.341168143]: Processing flag: 700.26 [ INFO] [1727344078.341256143]: Processing pose: Position(0.83, 1.17, 0.04), Orientation(-0.00, 0.01, 0.03, 1.00) [2024-09-26 17:47:59.402] [I] relocalization succeeded 4 全局重定位模型匹配 time耗费：(0.0128978) 1.467e-06 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.00904274 2 dbow2加速匹配模型 time耗费：(0.0130254) 0.00913242 1 速度模型匹配 time耗费：(0.00304362) 0.00451529 [ INFO] [1727344079.536012048]: send Pose - x: 0.407451, y: 2.198173, z: 0.096381 [ INFO] [1727344080.537085709]: Processing flag: 702.46 [ INFO] [1727344080.537184185]: Processing pose: Position(0.41, 2.20, 0.10), Orientation(0.00, 0.01, 0.03, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.0097554 [ INFO] [1727344081.609360952]: send Pose - x: 0.339640, y: 2.369105, z: 0.101842 [ INFO] [1727344082.610254239]: Processing flag: 704.53 [ INFO] [1727344082.610338537]: Processing pose: Position(0.34, 2.37, 0.10), Orientation(0.00, 0.01, 0.03, 1.00) 1 速度模型匹配 time耗费：(0.00304362) 0.000727046 [ INFO] [1727344083.658684441]: send Pose - x: 0.234341, y: 2.597136, z: 0.108952 [ INFO] [1727344084.659517619]: Processing flag: 706.58 [ INFO] [1727344084.659592698]: Processing pose: Position(0.23, 2.60, 0.11), Orientation(0.00, 0.01, 0.03, 1.00) [2024-09-26 17:48:05.721] [I] relocalization succeeded 4 全局重定位模型匹配 time耗费：(0.0128978) 1.397e-06 ^C^C[2024-09-26 17:48:39.940] [I] terminate global optimization module [2024-09-26 17:48:39.943] [I] terminate mapping module [2024-09-26 17:48:39.948] [I] shutdown SLAM system median tracking time: 2.05547[s] mean tracking time: 1.83109[s]
