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  1. rosrun cartographer_ros cartographer_rosbag_validate -bag_filename loop_closure_test2.bag
  2. I0607 14:59:39.319980 7131 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/imu/data" (frame_id: "imu_link"):
  3. Count: 30099 Min: 0.004980 Max: 0.014872 Mean: 0.010000
  4. [0.004980, 0.005969) Count: 35 (0.116283%) Total: 35 (0.116283%)
  5. [0.005969, 0.006958) Count: 0 (0.000000%) Total: 35 (0.116283%)
  6. [0.006958, 0.007948) Count: 0 (0.000000%) Total: 35 (0.116283%)
  7. [0.007948, 0.008937) Count: 1 (0.003322%) Total: 36 (0.119605%)
  8. [0.008937, 0.009926) # Count: 1220 (4.053291%) Total: 1256 (4.172896%)
  9. [0.009926, 0.010915) ################### Count: 28806 (95.704178%) Total: 30062 (99.877075%)
  10. [0.010915, 0.011904) Count: 2 (0.006645%) Total: 30064 (99.883720%)
  11. [0.011904, 0.012893) Count: 0 (0.000000%) Total: 30064 (99.883720%)
  12. [0.012893, 0.013883) Count: 8 (0.026579%) Total: 30072 (99.910294%)
  13. [0.013883, 0.014872] Count: 27 (0.089704%) Total: 30099 (100.000000%)
  14. E0607 14:59:39.320191 7131 rosbag_validate_main.cc:382] Point data (frame_id: "velodyne_front") has a large gap, largest is 0.1052 s, recommended is [0.0005, 0.05] s with no jitter.
  15. I0607 14:59:39.320381 7131 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/ns1/velodyne_points" (frame_id: "velodyne_front"):
  16. Count: 2983 Min: 0.096539 Max: 0.105200 Mean: 0.100861
  17. [0.096539, 0.097405) Count: 1 (0.033523%) Total: 1 (0.033523%)
  18. [0.097405, 0.098271) Count: 0 (0.000000%) Total: 1 (0.033523%)
  19. [0.098271, 0.099137) Count: 0 (0.000000%) Total: 1 (0.033523%)
  20. [0.099137, 0.100003) Count: 0 (0.000000%) Total: 1 (0.033523%)
  21. [0.100003, 0.100870) ############ Count: 1752 (58.732819%) Total: 1753 (58.766342%)
  22. [0.100870, 0.101736) ######## Count: 1229 (41.200134%) Total: 2982 (99.966476%)
  23. [0.101736, 0.102602) Count: 0 (0.000000%) Total: 2982 (99.966476%)
  24. [0.102602, 0.103468) Count: 0 (0.000000%) Total: 2982 (99.966476%)
  25. [0.103468, 0.104334) Count: 0 (0.000000%) Total: 2982 (99.966476%)
  26. [0.104334, 0.105200] Count: 1 (0.033523%) Total: 2983 (100.000000%)
  27. E0607 14:59:39.320425 7131 rosbag_validate_main.cc:382] Point data (frame_id: "velodyne_left") has a large gap, largest is 0.103511 s, recommended is [0.0005, 0.05] s with no jitter.
  28. I0607 14:59:39.320528 7131 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/ns3/velodyne_points" (frame_id: "velodyne_left"):
  29. Count: 2983 Min: 0.100700 Max: 0.103511 Mean: 0.100863
  30. [0.100700, 0.100981) #################### Count: 2970 (99.564194%) Total: 2970 (99.564194%)
  31. [0.100981, 0.101262) Count: 11 (0.368756%) Total: 2981 (99.932953%)
  32. [0.101262, 0.101543) Count: 0 (0.000000%) Total: 2981 (99.932953%)
  33. [0.101543, 0.101824) Count: 0 (0.000000%) Total: 2981 (99.932953%)
  34. [0.101824, 0.102105) Count: 0 (0.000000%) Total: 2981 (99.932953%)
  35. [0.102105, 0.102387) Count: 0 (0.000000%) Total: 2981 (99.932953%)
  36. [0.102387, 0.102668) Count: 0 (0.000000%) Total: 2981 (99.932953%)
  37. [0.102668, 0.102949) Count: 0 (0.000000%) Total: 2981 (99.932953%)
  38. [0.102949, 0.103230) Count: 0 (0.000000%) Total: 2981 (99.932953%)
  39. [0.103230, 0.103511] Count: 2 (0.067047%) Total: 2983 (100.000000%)
  40. E0607 14:59:39.320571 7131 rosbag_validate_main.cc:382] Point data (frame_id: "velodyne_rear") has a large gap, largest is 0.105017 s, recommended is [0.0005, 0.05] s with no jitter.
  41. I0607 14:59:39.320690 7131 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/ns2/velodyne_points" (frame_id: "velodyne_rear"):
  42. Count: 2983 Min: 0.096699 Max: 0.105017 Mean: 0.100861
  43. [0.096699, 0.097531) Count: 1 (0.033523%) Total: 1 (0.033523%)
  44. [0.097531, 0.098363) Count: 0 (0.000000%) Total: 1 (0.033523%)
  45. [0.098363, 0.099194) Count: 0 (0.000000%) Total: 1 (0.033523%)
  46. [0.099194, 0.100026) Count: 1 (0.033523%) Total: 2 (0.067047%)
  47. [0.100026, 0.100858) ######### Count: 1356 (45.457592%) Total: 1358 (45.524639%)
  48. [0.100858, 0.101690) ########### Count: 1623 (54.408314%) Total: 2981 (99.932953%)
  49. [0.101690, 0.102522) Count: 1 (0.033523%) Total: 2982 (99.966476%)
  50. [0.102522, 0.103353) Count: 0 (0.000000%) Total: 2982 (99.966476%)
  51. [0.103353, 0.104185) Count: 0 (0.000000%) Total: 2982 (99.966476%)
  52. [0.104185, 0.105017] Count: 1 (0.033523%) Total: 2983 (100.000000%)
  53. E0607 14:59:39.320731 7131 rosbag_validate_main.cc:382] Point data (frame_id: "velodyne_right") has a large gap, largest is 0.101072 s, recommended is [0.0005, 0.05] s with no jitter.
  54. I0607 14:59:39.320859 7131 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/ns4/velodyne_points" (frame_id: "velodyne_right"):
  55. Count: 2983 Min: 0.100643 Max: 0.101072 Mean: 0.100861
  56. [0.100643, 0.100686) Count: 6 (0.201140%) Total: 6 (0.201140%)
  57. [0.100686, 0.100729) Count: 15 (0.502849%) Total: 21 (0.703989%)
  58. [0.100729, 0.100772) Count: 59 (1.977875%) Total: 80 (2.681864%)
  59. [0.100772, 0.100815) ## Count: 269 (9.017767%) Total: 349 (11.699632%)
  60. [0.100815, 0.100857) ####### Count: 1002 (33.590343%) Total: 1351 (45.289978%)
  61. [0.100857, 0.100900) ######## Count: 1189 (39.859203%) Total: 2540 (85.149178%)
  62. [0.100900, 0.100943) ## Count: 350 (11.733154%) Total: 2890 (96.882332%)
  63. [0.100943, 0.100986) Count: 65 (2.179014%) Total: 2955 (99.061348%)
  64. [0.100986, 0.101029) Count: 22 (0.737513%) Total: 2977 (99.798859%)
  65. [0.101029, 0.101072] Count: 6 (0.201140%) Total: 2983 (100.000000%)
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